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

Target tracking using observations from multiple sensors can achieve better estimation performance than a single sensor. The most famous estimation tool in target tracking is Kalman filter. There are several mathematical approaches to…

The Kalman filter (KF) is one of the most widely used tools for data assimilation and sequential estimation. In this work, we show that the state estimates from the KF in a standard linear dynamical system setting are equivalent to those…

Millimeter wave spectrum access over the 70GHz and 80GHz is central to unlocking gigabit connectivity and meeting the explosive growth of mobile traffic. A pressing question, however, is whether fifth-generation (5G) systems can…

Many filters have been proposed in recent decades for the nonlinear state estimation problem. The linearization-based extended Kalman filter (EKF) is widely applied to nonlinear industrial systems. As EKF is limited in accuracy and…

Global Navigation Satellite System (GNSS) is essential for autonomous driving systems, unmanned vehicles, and various location-based technologies, as it provides the precise geospatial information necessary for navigation and situational…

Accurate vehicle positioning requires effective IMU-GPS fusion, yet prior methods-EKF, UKF, ML, GA, and DE-suffer from nonlinearity, instability, or high computational cost. This study introduces a PSO-based adaptive tuning framework for…

In this work, we explore the recent advances in equivariant filtering for inertial navigation systems to improve state estimation for uncrewed aerial vehicles (UAVs). Traditional state-of-the-art estimation methods, e.g., the multiplicative…

The Global Navigation Satellite System (GNSS) provides critical positioning information globally, but its accuracy in dense urban environments is often compromised by multipath and non-line-of-sight errors. Road network data can be used to…

Linear data-detection algorithms that build on zero forcing (ZF) or linear minimum mean-square error (L-MMSE) equalization achieve near-optimal spectral efficiency in massive multi-user multiple-input multiple-output (MU-MIMO) systems. Such…

We address the problem of localizing multiple sources in 3D by combining sensor array measurements with camera observations. We propose a fusion framework extending the covariance matrix fitting method with an unbalanced optimal transport…

In 5G mmWave, joint positioning and synchronization can be achieved even when the line-of-sight path is blocked. In this technical note, we describe a simple method to determine a coarse estimate of the user state and the environment. This…

Intraoperative tracking of surgical instruments is an inevitable task of computer-assisted surgery. An optical tracking system often fails to precisely reconstruct the dynamic location and pose of a surgical tool due to the acquisition…

Localization and tracking of a mobile node (MN) in non-line-of-sight (NLOS) scenarios, based on time of arrival (TOA) measurements, is considered in this work. To this end, we develop a constrained form of square root unscented Kalman…

Large scale monitoring systems enable efficient field level data collection at high temporal and spatial resolutions. One example is the deployment of such systems in pipeline infrastructure applications which have to be monitored for leaks…

Accurate and continuous pedestrian positioning across outdoor-indoor environments remains challenging because GNSS, UWB, and inertial PDR are complementary yet individually fragile under signal blockage, multipath, and drift. This paper…

Compared with linear time invariant systems, linear periodic system can describe the periodic processes arising from nature and engineering more precisely. However, the time-varying system parameters increase the difficulty of the research…

Search and rescue (SAR) operations require rapid responses to save lives or property. Unmanned Aerial Vehicles (UAVs) equipped with vision-based systems support these missions through prior terrain investigation or real-time assistance…

Accurate and ubiquitous localization is crucial for a variety of applications such as logistics, navigation, intelligent transport, monitoring, control, and also for the benefit of communications. Exploiting millimeter-wave (mmWave) signals…

Proliferation of 5G devices and services has driven the demand for wide-scale enhancements ranging from data rate, reliability, and compatibility to sustain the ever increasing growth of the telecommunication industry. In this regard, this…

The paper discusses the increasing use of hybridized sensor information for GNSS-based localization and navigation, including the use of 3D map-aided GNSS positioning and terrestrial systems based on different geometric measurement…