相关论文: Two stage GNSS outlier detection for factor graph …
Global navigation satellite system (GNSS) positioning is widely used for urban navigation, but the covariance reported by the GNSS solver is often unreliable in urban canyons. Existing differentiable factor graph optimization (DFGO) methods…
This study addresses an important gap in time series outlier detection by proposing a novel problem setting: long-term outlier prediction. Conventional methods primarily focus on immediate detection by identifying deviations from normal…
Despite the remarkable advancements in deep learning-based perception technologies and simultaneous localization and mapping (SLAM), one can face the failure of these approaches when robots encounter scenarios outside their modeled…
Misalignment angle will result in a considerable error for the integration of Doppler Velocity Log (DVL) and of Strapdown Inertial Navigation System (SINS). In this paper, a robust initial alignment method for SINS/DVL is proposed to solve…
We design a receiver assembling several photomultipliers (PMTs) as an array to increase the field of view (FOV) of the receiver and adapt to multiuser situation over None-line-of-sight (NLOS) ultraviolet (UV) channels. Channel estimation…
A great surge in the development of global navigation satellite systems (GNSS) excavates the potential for prosperity in many state-of-the-art technologies, e.g., autonomous ground vehicle navigation. Nevertheless, the GNSS is vulnerable to…
We propose a simple multiple outlier identification method for parametric location-scale and shape-scale models when the number of possible outliers is not specified. The method is based on a result giving asymptotic properties of extreme…
Phased-array Bluetooth systems have emerged as a low-cost alternative for performing aided inertial navigation in GNSS-denied use cases such as warehouse logistics, drone landings, and autonomous docking. Basing a navigation system off of…
The widely used global navigation satellite systems (GNSSs) are vulnerable to radio frequency interference (RFI). Long-range navigation (Loran), a terrestrial navigation system, can compensate for this weakness; however, it suffers from low…
State estimation methods using factor graph optimization (FGO) have garnered significant attention in global navigation satellite system (GNSS) research. FGO exhibits superior estimation accuracy compared with traditional state estimation…
Tensor completion is the problem of estimating the missing values of high-order data from partially observed entries. Data corruption due to prevailing outliers poses major challenges to traditional tensor completion algorithms, which…
Many computer vision tasks involve processing large amounts of data contaminated by outliers, which need to be detected and rejected. While outlier detection methods based on robust statistics have existed for decades, only recently have…
The precise and accurate indoor positioning using cellular communication technology remains to be a prerequisite for several industrial applications, including the emergence of a new topic of Integrated Sensing and Communication (ISAC).…
Outlier detection algorithms typically assign an outlier score to each observation in a dataset, indicating the degree to which an observation is an outlier. However, these scores are often not comparable across algorithms and can be…
This paper proposes a highly accurate trajectory estimation method for outdoor mobile robots using global navigation satellite system (GNSS) time differences of carrier phase (TDCP) measurements. By using GNSS TDCP, the relative 3D position…
Swift and accurate alignment of transmitter (Tx) and receiver (Rx) beams is a fundamental design challenge to enable reliable outdoor millimeter-wave communications. In this paper, we propose a new Optimized Two-Stage Search (OTSS)…
Global Navigation Satellite Systems enable precise localization and timing even for highly mobile devices, but legacy implementations provide only limited support for the new generation of security-enhanced signals. Inertial Measurement…
Recently, channel extrapolation has been widely investigated in frequency division duplex (FDD) massive MIMO systems. However, in time division duplex (TDD) fifth generation (5G) new radio (NR) systems, the channel extrapolation problem…
Doppler orbitography uses the Doppler shift in a transmitted signal to determine the orbital parameters of satellites including range and range-rate (or radial velocity). We describe two techniques for atmospheric-limited optical Doppler…
Accurate calibration of intrinsic (odometer scaling factors) and extrinsic parameters (IMU-odometer translation and rotation) is essential for autonomous ground vehicle localization. Existing GNSS-aided approaches often rely on positioning…