10 papers
CredibleDFGO: Differentiable Factor Graph Optimization with Credibility Supervision
Liang Qian, Penggao Yan, Penghui Xu +1
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. Exis…
Cauchy-Gaussian Overbound for Heavy-tailed GNSS Measurement Errors
Zhengdao Li, Penggao Yan, Weisong Wen +1
Overbounds of heavy-tailed measurement errors are essential to meet stringent navigation requirements in integrity monitoring applications. This paper proposes to leverage the boun…
Certifiable Alignment of GNSS and Local Frames via Lagrangian Duality
Baoshan Song, Matthew Giamou, Penggao Yan +2
Estimating the absolute orientation of a local system relative to a global navigation satellite system (GNSS) reference often suffers from local minima and high dependency on satel…
Logistic-aided Huber M-estimator for robust GNSS positioning
Zhengdao Li, Penggao Yan, Li-Ta Hsu
This paper develops a logistic-aided Huber (LAH) M-estimator for robust GNSS positioning under long-tailed, multipath-affected measurement errors. The key idea is to leverage a log…
Credible Uncertainty Quantification under Noise and System Model Mismatch
Penggao Yan, Xingqun Zhan, Rui Sun +1
State estimators often provide self-assessed uncertainty metrics, such as covariance matrices, whose credibility is critical for downstream tasks. However, these self-assessments c…
Improved GNSS Positioning in Urban Environments Using a Logistic Error Model
Zhengdao Li, Penggao Yan, Baoshan Song +1
A Gaussian error assumption is commonly adopted in the pseudorange measurement model for global navigation satellite system (GNSS) positioning, which leads to the conventional leas…