相关论文: GNSS Odometry: Precise Trajectory Estimation Based…

We examine acoustic Doppler current profiler (ADCP) measurements from underwater gliders to determine glider position, glider velocity, and subsurface current. ADCPs, however, do not directly observe the quantities of interest; instead,…

The use of GNSS in the railway sector has been postulated on the notion of a Virtual Balise (VB). The VB-based positioning system works by setting a VB point on the railway track and determining the passage of the VB point using the…

Currently, visual odometry and LIDAR odometry are performing well in pose estimation in some typical environments, but they still cannot recover the localization state at high speed or reduce accumulated drifts. In order to solve these…

Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…

Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…

Absolute positioning is an essential factor for the arrival of autonomous driving. Global Navigation Satellites System (GNSS) receiver provides absolute localization for it. GNSS solution can provide satisfactory positioning in open or…

This article presents GLIM, a 3D range-inertial localization and mapping framework with GPU-accelerated scan matching factors. The odometry estimation module of GLIM employs a combination of fixed-lag smoothing and keyframe-based point…

Although direct position estimation (DPE) has been demonstrated to offer enhanced robustness in GNSS receivers, its theoretical limits and performance in OFDM based positioning systems remain largely unexplored. In this paper, the…

Reliably assessing the error in an estimated vehicle position is integral for ensuring the vehicle's safety in urban environments. Many existing approaches use GNSS measurements to characterize protection levels (PLs) as probabilistic upper…

We propose enhancing trajectory optimization methods through the incorporation of two key ideas: variable-grasp pose sampling and trajectory commitment. Our iterative approach samples multiple grasp poses, increasing the likelihood of…

Commercial off-the-shelf (COTS) Global Navigation Satellite System (GNSS) receivers face significant limitations under high-dynamic conditions, particularly in high-acceleration environments such as those experienced by launch vehicles.…

This paper presents a novel 3DOF pedestrian trajectory prediction approach for autonomous mobile service robots. While most previously reported methods are based on learning of 2D positions in monocular camera images, our approach uses…

Many multi-sensor navigation systems urgently demand accurate positioning initialization from global navigation satellite systems (GNSSs) in challenging static scenarios. However, ground blockages against line-of-sight (LOS) signal…

This article emphasizes on inconsistencies in the dynamical estimates obtained by first-order transverse discontinuity mapping (TDM) and direct numerical observations for hybrid dynamical systems. Pitfalls of locally linearizing hybrid…

We propose a simple method for estimating crystal oscillator g-sensitivity in inertially aided Global Navigation Satellite System (GNSS) receivers. It does not require any specific equipment, like GNSS signal simulators or rate tables. The…

Direct Position Estimation (DPE) is a method that directly estimate position, velocity, and time (PVT) information from cross ambiguity function (CAF) of the GNSS signals, significantly enhancing receiver robustness in urban environments.…

This paper presents three novel algorithms for calculating geodesic intersections on an ellipsoid. These algorithms are applied in a case study analyzing real-time transit data in California to assess vehicle position drift. The analysis…

Given a network of $N$ static nodes in $D$-dimensional space and the pairwise distances between them, the challenge of estimating the coordinates of the nodes is a well-studied problem. However, for numerous application domains, the nodes…

Aiming at the problem that GNSS-RTK technology cannot effectively monitor landslides due to gross errors and high-frequency noise during landslide monitoring, a GNSS-RTK landslide monitoring system based on the improved Raida…

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…