5 papers
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…
Online IMU-odometer Calibration using GNSS Measurements for Autonomous Ground Vehicle Localization
Baoshan Song, Xiao Xia, Penggao Yan +3
Accurate calibration of intrinsic (odometer scaling factors) and extrinsic parameters (IMU-odometer translation and rotation) is essential for autonomous ground vehicle localizatio…
Two stage GNSS outlier detection for factor graph optimization based GNSS-RTK/INS/odometer fusion
Baoshan Song, Penggao Yan, Xiao Xia +3
Reliable GNSS positioning in complex environments remains a critical challenge due to non-line-of-sight (NLOS) propagation, multipath effects, and frequent signal blockages. These…
Certifiably Optimal Doppler Positioning using Opportunistic LEO Satellites
Baoshan Song, Weisong Wen, Qi Zhang +2
To provide backup and augmentation to global navigation satellite system (GNSS), Doppler shift from Low Earth Orbit (LEO) satellites can be employed as signals of opportunity (SOP)…
An Efficient Detector for Faulty GNSS Measurements Detection With Non-Gaussian Noises
Penggao Yan, Baoshan Song, Xiao Xia +2
Fault detection is crucial to ensure the reliability of navigation systems. However, mainstream fault detection methods are developed based on Gaussian assumptions on nominal error…