相关论文: Jackknife ARAIM: Efficient GNSS Integrity Monitori…
Fault detection is crucial to ensure the reliability of navigation systems. However, mainstream fault detection methods are developed based on Gaussian assumptions on nominal errors, while current attempts at non-Gaussian fault detection…
Bayesian receiver autonomous integrity monitoring (RAIM) algorithms are developed for the snapshot cellular positioning problem in a simplified one-dimensional (1D) linear Gaussian setting. Position estimation, multi-fault detection and…
Ensuring positioning integrity amid faulty measurements is crucial for safety-critical applications, making receiver autonomous integrity monitoring (RAIM) indispensable. This paper introduces a Bayesian RAIM algorithm with a streamlined…
Unmanned aerial vehicles (UAVs) have increasingly been adopted for safety, security, and rescue missions, for which they need precise and reliable pose estimates relative to their environment. To ensure mission safety when relying on visual…
GNSS are indispensable for various applications, but they are vulnerable to spoofing attacks. The original receiver autonomous integrity monitoring (RAIM) was not designed for securing GNSS. In this context, RAIM was extended with wireless…
Location-based service (LBS) applications proliferate and support transportation, entertainment, and more. Modern mobile platforms, with smartphones being a prominent example, rely on terrestrial and satellite infrastructures (e.g., global…
Urban navigation using GPS and fish-eye camera suffers from multipath effects in GPS measurements and data association errors in pixel intensities across image frames. We propose a Simultaneous Localization and Mapping (SLAM)-based…
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…
Adopting a joint approach towards state estimation and integrity monitoring results in unbiased integrity monitoring unlike traditional approaches. So far, a joint approach was used in Particle RAIM [l] for GNSS measurements only. In our…
Global Navigation Satellite Systems (GNSS) face growing disruption from intentional jamming, undermining critical infrastructure where precise positioning and timing are essential. Current position error correction (PEC) methods mainly…
Before autonomous systems can be deployed in safety-critical applications, we must be able to understand and verify the safety of these systems. For cases where the risk or cost of real-world testing is prohibitive, we propose a…
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…
Global Navigation Satellite System (GNSS) spoofing and jamming threaten maritime navigation by corrupting positions from Automatic Identification System (AIS) transponders. Crucially, raw AIS messages contain communication-layer defects…
For potential quantum advantage, Variational Quantum Algorithms (VQAs) need high accuracy beyond the capability of today's NISQ devices, and thus will benefit from error mitigation. In this work we are interested in mitigating measurement…
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…
Cross-View Geo-localisation (CVGL) matches ground imagery against satellite tiles to give absolute position fixes, an alternative to GNSS where signals are occluded, jammed, or spoofed. Recent fine-grained CVGL methods regress sub-tile…
Given significant air pollution problems, air quality index (AQI) monitoring has recently received increasing attention. In this paper, we design a mobile AQI monitoring system boarded on unmanned-aerial-vehicles (UAVs), called ARMS, to…
Baseline generation for tracking applications is a difficult task when working with real world radar data. Data sparsity usually only allows an indirect way of estimating the original tracks as most objects' centers are not represented in…
With the rise of location-based service (LBS) applications that rely on terrestrial and satellite infrastructures (e.g., GNSS and crowd-sourced Wi-Fi, Bluetooth, cellular, and IP databases) for positioning, ensuring their integrity and…
Global Navigation Satellite System/Inertial Navigation System (GNSS/INS)/Vision integration based on factor graph optimization (FGO) has recently attracted extensive attention in navigation and robotics community. Integrity monitoring (IM)…