3 citations · 3 across the 2 of their papers we have counts for
9 papers
Degeneration of Sliding-Window Factor Graph Optimization into Iterated Extended Kalman Filtering
Baoshan Song, Ruijie Xu, Zhi Zhan +1
Sliding window factor graph optimization (SW-FGO) is widely recognized for its robustness, yet its theoretical relationship with the extended Kalman filter (EKF) remains a subject…
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…
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…
Jackknife ARAIM: Efficient GNSS Integrity Monitoring for Simultaneous Faults under Non-Gaussian Errors
Penggao Yan, Ronghe Jin, Junyi Zhang +2
Legacy and advanced receiver autonomous integrity monitoring (RAIM/ARAIM) rely on Gaussian error models that can be overly conservative for real-world non-Gaussian errors. This pap…