Environment-Aware and 3D Map-Aided PNT

3D mapping-aided GNSS3DMA GNSS3D city modelsLiDAR mapsray tracingdigital twinssky visibilityskymask matchingenvironment-aware positioning

Pillar lead: Guohao Zhang

The city becomes part of the navigation system. We use 3D city models, LiDAR maps, sky visibility, ray tracing, and digital twins to predict GNSS visibility, identify NLOS and multipath, improve accuracy, and assess reliability.

Conventional GNSS treats the city as obstruction and is blind to which satellites are NLOS, counting reflections as honest range; IPNL uses 3D city models and LiDAR maps with ray tracing to predict NLOS and multipath and produce a corrected, reliable position.

The urban environment is not only an obstacle; it can become prior information for trustworthy navigation. This pillar grew out of Prof. Hsu’s postdoc work in Tokyo and the founding ION/IAG Working Group on Positioning at Asian Urban Canyons, and it is the technical core behind both the US12123961B2 patent on 3D LiDAR Aided GNSS NLOS Detection and Correction and the long-running Huawei collaboration on 3DMA GNSS for mobile devices.

Related Projects

Multi-Agent Collaborative GNSS for Intelligent Transportation Systems completed
Stairio: Autonomous Staircase Safety Monitoring Robot active
UrbanNav active
LunaNav: Lunar Robotic Exploration active
Robust GNSS Navigation for Urban Air Traffic Management active
UrbanLoco maintained
GraphGNSSLib active
3D Map-Aided GNSS (3DMA) for Smartphone and IoT active
Environment-Aware GNSS for UAS and Autonomous Driving active

Related Publications

2026 (4)

patent

Lee, J& Hsu, L. T (2026).Multi-feature visual positioning method (ZL 202110638139.9). China National Intellectual Property Administration. https://patents.google.com/patent/CN115527044B

patent

Hsu, L. T& Wen, W (2026).3D LiDAR Aided GNSS and the Method for NLOS Detection and Correction (CA 3,156,087). Canadian Intellectual Property Office (CIPO).

journal Q1

Liang, Q., Zhang, G., & Hsu, L.-T. (2026).Accurate Wi-Fi RTT indoor positioning with NLOS mitigation by floor map: a multi-wall modeling approach. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/TIM.2024.3436101

journal

Hoi-Wah, Ng, Hoi-Fung, Ng, Hsu, L.-T., & Rizzo, J.-R. (2026).Three-Dimensional Mapping-Aided Global Navigation Satellite System in Global Navigation Satellite System-Accessible Indoor Areas. Sensors. https://doi.org/10.3390/s26031058

2025 (12)

book

Hsu, L. T., Zhang, G., & F., N. H. (2025).Chapter: Map-Aided GNSS Positioning. Springer Publishers Inc.

book

Hsu, L. T., Zhang, G., & Wen, W. (2025).Principles of Indoor Positioning and Indoor Navigation. Artech House Publishers Inc.

Code

patent

Lee, J& Hsu, L. T (2025).Visual Positioning System (provisional) (US 63/840,727 (provisional)). U.S. Patent and Trademark Office.

patent

Hsu, L. T& Wen, W (2025).3D LiDAR Aided GNSS and the Method for NLOS Detection and Correction (ZL 2022 1 0905688.2). China National Intellectual Property Administration (CNIPA).

patent

Hsu, L. T& Wen, W (2025).3D LiDAR Aided GNSS and the Method for NLOS Detection and Correction (HK 40077647). Hong Kong Intellectual Property Department.

journal Q1

Ng, H. F., Zhong, Q., Groves, P., & Hsu, L. T. (2025).Grid-based 3DMA GNSS with clustering and Doppler velocity using factor graph optimisation. The Journal of Navigation. https://doi.org/10.1017/s0373463325000220

journal Q1

Zheng, X., Wen, W., & Hsu, L. T. (2025).Safety-quantifiable line feature-based monocular visual localization with 3d prior map. IEEE Transactions on Intelligent Transportation Systems. https://doi.org/10.1109/tits.2025.3572620

journal Q1

Lee, M. J. L., Ng, H. F., & Hsu, L. T. (2025).Automated Camera Positioning for Digital Twinning: Incorporating 360-Degree Imaging, Differential Rendering, and 3D Spatial Data. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/tim.2025.3584142

journal Q1

Liu, X., Wen, W., Huang, F., Gao, H., Wang, Y., & Hsu, L. T. (2025).3-D LiDAR-Aided GNSS NLOS Mitigation for Reliable GNSS-RTK Positioning in Urban Canyons. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/tim.2025.3629836

journal Q1

Liu, X., Wen, W., Zhang, L., & Hsu, L. T. (2025).3D LiDAR Aided GNSS NLOS Correction by Direction-of-Arrival Estimation Using Doppler Measurements in Urban Canyons. IEEE Transactions on Intelligent Transportation Systems. https://doi.org/10.1109/tits.2025.3596582

journal Q1

Lee, M. J. L., Lin, J., Zhang, G., & Hsu, L. T. (2025).Framework for Low-Cost Indoor Smartphone Camera-based Localization Using Spherical Panorama and BIM. IEEE Sensors Journal. https://doi.org/10.1109/jsen.2025.3613996

conference

Zhong, Y., Hoi-Fung, Ng, Hsu, L.-T., & Wen, W. (2025).GNSS/Map Integration with Batch Factor Graph Optimization for Reliable Trajectory Estimation in Urban Canyon. 2025 IEEE/ION Position, Location and Navigation Symposium (PLANS). https://doi.org/10.1109/PLANS61210.2025.11028209

2024 (18)

patent

Hsu, L. T& Wen, W (2024).3D LiDAR Aided GNSS and the Method for NLOS Detection and Correction (US 12,123,961 B2). U.S. Patent and Trademark Office. https://patents.google.com/patent/US12123961B2

patent

Liu, X, Wen, W, Liu, J, & Hsu, L. T (2024).NLOS Error Correction Method, Apparatus, Terminal and Storage Medium (一种非视距误差修正方法、装置、终端及存储介质) (CN 202410345048.X). China National Intellectual Property Administration (CNIPA).

journal Q3

Hu, R., Bai, S., Wen, W., Xia, X., & Hsu, L. T. (2024).Towards high‐definition vector map construction based on multi‐sensor integration for intelligent vehicles: Systems and error quantification. IET Intelligent Transport Systems. https://doi.org/10.1049/itr2.12524

journal Q1

Ye, M., Zhang, G., & Hsu, L. T. (2024).Building Model Rectification Using GNSS Reflectometry. IEEE Geoscience and Remote Sensing Letters. https://doi.org/10.1109/lgrs.2024.3373639

journal Q1

Xu, P., Zhang, G., Zhong, Y., Yang, B., & Hsu, L. T. (2024).A Framework for Graphical GNSS Multipath and NLOS Mitigation. IEEE Transactions on Intelligent Transportation Systems. https://doi.org/10.1109/tits.2024.3374819

journal Q1

Zhang, L., Ng, H. F., Zhang, G., & Hsu, L. T. (2024).Ray-Tracing Correction for GNSS Velocity Estimation Using Doppler Frequency: A Feasibility Analysis. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/tim.2024.3385033

journal Q1

Xu, P., Zhang, G., Yang, B., & Hsu, L. T. (2024).Machine Learning in GNSS Multipath/NLOS Mitigation: Review and Benchmark. IEEE Aerospace and Electronic Systems Magazine. https://doi.org/10.1109/maes.2024.3395182

journal Q1

Bai, X.& Hsu, L. T. (2024).GNSS/Visual/IMU/Map Integration Via Sliding Window Factor Graph Optimization for Vehicular Positioning in Urban Areas. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2024.3412208

journal Q1

Qi, X., Xu, B., Wang, Z., & Hsu, L. T. (2024).Random forest-based multipath parameter estimation. GPS Solutions. https://doi.org/10.1007/s10291-024-01667-x

journal Q1

Zheng, X., Wen, W., & Hsu, L. T. (2024).Tightly-coupled visual/inertial/map integration with observability analysis for reliable localization of intelligent vehicles. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2024.3419101

journal Q1

Xu, H., Zhang, G., & Hsu, L. T. (2024).Urban Building Updates Monitoring Based on Sky Visibility Estimation From Satellite Signals. IEEE Internet of Things Journal. https://doi.org/10.1109/jiot.2024.3434684

journal Q1

Zhang, Z., Xu, P., Zhang, G., & Hsu, L. T. (2024).GNSS-based Environment Retrieval: A Deep Learning Approach for Fine-grained Environment Perception. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2024.3440645

journal Q1

Zhang, L., Ng, H. F., Zhong, Y., Zhang, G., & Hsu, L. T. (2024).GNSS Doppler Velocity Estimation Aided by 3D Mapping Database. IEEE Transactions on Intelligent Transportation Systems. https://doi.org/10.1109/tits.2024.3486448

conference

Zhou, J., Lian, J., Zhang, G., & Hsu, L.-T. (2024).Performance Assessment of GNSS Positioning in Different Vegetated Environments. Proceedings of the ION 2024 Pacific PNT Meeting. https://doi.org/10.33012/2024.19656

conference

Penghui, Xu& Hsu, L.-T. (2024).AutoW: Self-Supervision Learning for Weighting Estimation in GNSS Positioning. ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation. https://doi.org/10.33012/2024.19896

conference

Mingda, Ye, Zhang, G., & Hsu, L.-T. (2024).3DMA GNSS Positioning with Multipath Signals in Urban Areas: Methodology and Preliminary Results. ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation. https://doi.org/10.33012/2024.19770

conference

Vicenzo, S., Xin, Qi, Bing, Xu, & Hsu, L.-T. (2024).Machine Learning Assisted GNSS Direct Position Estimation for Urban Environments Applications. The International Technical Meeting of the The Institute of Navigation. https://doi.org/10.33012/2024.19567

conference

Hai, Di, Tsang, C. L., Zhang, G., & Hsu, L.-T. (2024).GNSS Measurement Performance in Vegetation Environments: Assessment and Analysis in Signal Processing Level. ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation. https://doi.org/10.33012/2024.19880

2023 (14)

patent

Hsu, L. T& Wen, W (2023).3D Vision Aided GNSS Real-time Kinematic Positioning for Autonomous Systems in Urban Canyons (PCT/CN2023/087717 · US 18/856,932 · HK 62024100104.4 · CN 202380033788.3 · CA 3247676). WIPO / USPTO / HKIPD / CNIPA / CIPO (multi-jurisdiction PCT family).

journal Q1

Chang, J., Hu, R., Huang, F., Xu, D., & Hsu, L. T. (2023).LiDAR-based NDT Matching Performance Evaluation for Positioning in Adverse Weather Conditions. IEEE Sensors Journal. https://doi.org/10.1109/jsen.2023.3312911

journal Q1

Wen, W., Bai, X., & Hsu, L. T. (2023).3D Vision Aided GNSS Real-Time Kinematic Positioning for Autonomous Systems in Urban Canyons. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.33012/navi.590

journal Q1 Featured

Xu, P., Zhang, G., Yang, B., & Hsu, L. T. (2023).PositionNet: CNN-based GNSS positioning in urban areas with residual maps. Applied Soft Computing. https://doi.org/10.2139/ssrn.4194604

journal Q1

Ng, H. F., Hsu, L. T., & Zhang, G. (2023).Multi-Epoch Kriging-Based 3D Mapping-Aided GNSS and Doppler Measurement Fusion using Factor Graph Optimization. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.33012/navi.617

journal Q1

Li, Z., Lee, P. H., Hung, T. H. M., Zhang, G., & Hsu, L. T. (2023).Intelligent Environment-Adaptive GNSS/INS Integrated Positioning with Factor Graph Optimization. Remote Sensing. https://doi.org/10.3390/rs16010181

conference

Huang, F., Chen, H., Urtay, A., Dongzhe, Su, Wen, W., & Hsu, L.-T. (2023).Roadside Infrastructure assisted LiDAR/Inertial-based Mapping for Intelligent Vehicles in Urban Areas. 2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC). https://doi.org/10.1109/itsc57777.2023.10422552

conference

Zhang, Z., Penghui, Xu, Zhang, G., & Hsu, L.-T. (2023).Intelligent GNSS Satellite Visibility Classification in Urban Areas: A Deep Learning Approach with Interpretation. 2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC). https://doi.org/10.1109/itsc57777.2023.10422660

conference

Bai, X.& Hsu, L.-T. (2023).GVIM: GNSS/Visual/IMU/Map Integration Via Sliding Window Factor Graph Optimization in Urban Canyons. Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023). https://doi.org/10.33012/2023.19458

conference

Runzhi, Hu, Wen, W., & Hsu, L.-T. (2023).Fisheye Camera Aided GNSS NLOS Detection and Learning-Based Pseudorange Bias Correction for Intelligent Vehicles in Urban Canyons. 2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC). https://doi.org/10.1109/itsc57777.2023.10422540

conference

Zhang, G., Hai, Di, Hoi-Fung, Ng, & Hsu, L.-T. (2023).Extending 3DMA GNSS with Diffraction Features in Urban Areas: Feasibility Analysis and Preliminary Results. Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023). https://doi.org/10.33012/2023.19339

conference

Liang, Q., Zhang, G., & Hsu, L.-T. (2023).An empirical multi-wall NLOS ranging model for Wi-Fi RTT indoor positioning. 2023 13th International Conference on Indoor Positioning and Indoor Navigation (IPIN). https://doi.org/10.1109/ipin57070.2023.10332471

conference

Zhang, L., Hoi-Fung, Ng, Zhang, G., & Hsu, L.-T. (2023).3D Mapping Aided GNSS Positioning Using Doppler Frequency for Urban Areas. Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023). https://doi.org/10.33012/2023.19340

conference

Liu, X., Wen, W., & Hsu, L.-T. (2023).3D LiDAR Aided GNSS NLOS Correction with Direction of Arrival Estimation Using Doppler Measurements. Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023). https://doi.org/10.33012/2023.19447

2022 (4)

patent

Hsu, L. T& Wen, W (2022).3D LiDAR Aided GNSS and the Method for NLOS Detection and Correction (US 2023/0033404 A1). U.S. Patent and Trademark Office. https://patents.google.com/patent/US20230033404A1

journal Q1

Wen, W. and Hsu L.-T. (2022).3D LiDAR Aided GNSS NLOS Mitigation in Urban Canyons. IEEE Transactions on Intelligent Transportation Systems. https://doi.org/10.1109/tits.2022.3167710

journal Q1

Wen, W.& Hsu, L. T. (2022).AGPC-SLAM: Absolute Ground Plane Constrained 3D LiDAR SLAM. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.33012/navi.527

conference

Liu, X., Wen, W., & Hsu, L.-T. (2022).3D LiDAR Aided GNSS Real-time Kinematic Positioning via Coarse-to-fine Batch Optimization for High Accuracy Mapping in Dense Urban Canyons. Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022). https://doi.org/10.33012/2022.18545

2021 (8)

patent

Zhang, G& Hsu, L. T (2021).3D map-aided GNSS cooperative positioning method and system (ZL 201910866398.X). China National Intellectual Property Administration. https://patents.google.com/patent/CN110426717B

journal Q2

Kan, Y.C., Hsu, L. T., & Chung, E. (2021).Performance Evaluation on Map-based NDT Scan Matching Localization using Simulated Occlusion Datasets. IEEE Sensors Letter. https://doi.org/10.1109/lsens.2021.3060097

journal Q1

Zhang, G.& Hsu, L. T. (2021).Performance Assessment of the GNSS Diffraction Models in Urban Areas. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.1002/navi.417

journal Q1 Featured

H.F., N., Zhang, G., & Hsu, L. T. (2021).Robust GNSS Shadow Matching for Smartphones in Urban Canyons. IEEE Sensors Journal. https://doi.org/10.1109/jsen.2021.3083801

journal Q1

H.F., N., Zhang, G., & Hsu, L. T. (2021).Urban Positioning: 3D Mapping Aided GNSS using Dual-Frequency Pseudorange Measurements from Smartphones. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.1002/navi.448

journal Q1

Zhang, G., P., X., H., X., & Hsu, L. T. (2021).Prediction on the Urban GNSS Measurement Uncertainty based on Deep Learning Networks with Long Short-Term Memory. IEEE Sensors Journal. https://doi.org/10.1109/jsen.2021.3098006

journal Q1 Featured

H.F., N.& Hsu, L.T. (2021).3D Mapping Database Aided GNSS RTK and Its Assessments in Urban Canyons. IEEE Transactions on Aerospace and Electronic Systems. https://doi.org/10.1109/taes.2021.3069271

journal Q2

Lee, J.L. M., Hsu, L. T., & H.-F., N. (2021).Semantic-Based VPS for Smartphone Localization in Challenging Urban Environments. Sensors. https://doi.org/10.3390/s21186137

2020 (10)

journal Q1

H., X., Angrisano, A., Gaglione, S., & Hsu, L. T. (2020).Machine Learning based LOS/NLOS Classifier and Robust Estimator for GNSS Shadow Matching. Satellite Navigation. https://doi.org/10.1186/s43020-020-00016-w

journal Q3

Bai, X., Wen, W., & Hsu, L. T. (2020).Using Sky-Pointing Fish-eye Camera and LiDAR to Aid GNSS Single Point Positioning in Urban Canyons. IET Intelligent Transport Systems. https://doi.org/10.1049/iet-its.2019.0587

journal Q1

H., X., Hsu, L. T., D., L., & Cai, B. (2020).Sky Visibility Estimation based on GNSS Satellite Visibility: An Approach of GNSS based Context-Awareness. GPS Solutions. https://doi.org/10.1007/s10291-020-0973-5

journal Q1

Wen, W., Zhang, G., & Hsu, L. T. (2020).Object Detection Aided GNSS and Its Integration with LiDAR in Highly Urbanized Areas. IEEE Intelligent Transportation Systems Magazine. https://doi.org/10.1109/mits.2020.2994131

journal Q1

F., N. H., Zhang, G., & Hsu, L. T. (2020).A Computation Effective Range-Based 3D Mapping Aided GNSS with NLOS Correction Method. Journal of Navigation. https://doi.org/10.1017/s037346332000003x

journal Q2

Lee, M.J.L., Lee, S., F., N. H., & Hsu, L T. (2020).Skymask Matching Aided Positioning Using Sky-Pointing Fisheye Camera and 3D City Models in Urban Canyons. Sensors. https://doi.org/10.3390/s20174728

journal Q1

Zhang, G., Wen, W. Xu B., & Hsu, L. T. (2020).Extending Shadow Matching to Tightly-Coupled GNSS/INS Integration System. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2020.2981093

journal Q1

Zhang, G., F., N. H., & Hsu, L. T. (2020).3D Mapping Database Aided GNSS Based Collaborative Positioning Using Factor Graph Optimization. IEEE Transactions on Intelligent Transportation Systems. https://doi.org/10.1109/tits.2020.2988531

journal Q1

Sun, R., Wang, G., Cheng, Q., L., F., Chiang, K.W., & Hsu, L. T. and Ochieng W. Y. (2020).Improving GPS Code Phase Positioning Accuracy in Urban Environments Using Machine Learning. IEEE Internet of Things Journal. https://doi.org/10.1109/jiot.2020.3037074

magazine

Hsu, L. T (2020).What are the roles of artificial intelligence and machine learning in GNSS positioning. Inside GNSS.

2019 (10)

book

Hsu, L. T., Wen, W., & Zhang, G (2019).Chapter 2 - Vehicular Positioning System. Nova Science Publishers Inc.

journal Q3

Wen, W., Bai, X., Zhan, W., Tomizuka, M., & Hsu, L. T. (2019).Uncertainty Estimation of LiDAR Matching Aided by Dynamic Vehicle Detection and High Definition Map. IET Electronics Letters. https://doi.org/10.1049/el.2018.8075

journal Q1

Zhang, G., Wen, W., & Hsu, L. T. (2019).Rectification of GNSS based Collaborative Positioning using 3D Building Models in Urban Areas. GPS Solutions. https://doi.org/10.1007/s10291-019-0872-9

journal Q1

B., X., Jia, Q., Luo, Y., & Hsu, L. T. (2019).Intelligent GPS L1 LOS/Multipath/NLOS Classifiers Based on Correlator-, RINEX-and NMEA-Level Measurements. Remote Sensing. https://doi.org/10.3390/rs11161851

journal Q1

Wen, W., Zhang, G., & Hsu, L. T. (2019).Correcting NLOS by 3D LiDAR and building height to improve GNSS single point positioning. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.1002/navi.335

journal Q1

Sun, R., Hsu, L. T., Xue, D., Zhang, G., & Washington, Y.O. (2019).GPS Signal Reception Classification Using Adaptive Neuro-Fuzzy Inference System. Journal of Navigation. https://doi.org/10.1017/s0373463318000899

journal Q1

Wen, W., Bai, X., Kan, Y.C., & Hsu, L. T. (2019).Tightly Coupled GNSS/INS Integration Via Factor Graph and Aided by Fish-eye Camera. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2019.2944680

journal Q1

Sun, R., Wang, G., Zhang, W., & Hsu, L. T. and Ochieng W. Y. (2019).A Gradient Boosting Decision Tree Based GPS Signal Reception Classification Algorithm. Applied Soft Computing Journal. https://doi.org/10.1016/j.asoc.2019.105942

journal Q1

Wen, W., Zhang, G., & Hsu, L. T. (2019).GNSS NLOS Exclusion Based on Dynamic Object Detection Using LiDAR Point Cloud. IEEE Transactions on Intelligent Transportation Systems. https://doi.org/10.1109/tits.2019.2961128

magazine

Wen, W& Hsu, L. T (2019).Perceived Environment Aided GNSS Single Point Positioning: An Example using LiDAR Scanner. Inside GNSS.

2018 (3)

patent

Wang, Y& Hsu, L. T (2018).Positioning method and electronic equipment (CN 111198389B). China National Intellectual Property Administration. https://patents.google.com/patent/CN111198389B

journal Q4

Huang, Y., Y., G., & Hsu, L. T. (2018).GNSS Correction using Altitude Map and Its Integration with Pedestrian Dead Reckoning. IEICE Transactions on Fundamentals of Electronics, Communications and Computer Science. https://doi.org/10.1587/transfun.e101.a.1245

journal Q2

Wen, W., Hsu, L. T., & Zhang, G. (2018).Performance analysis of NDT-based graph slam for autonomous vehicle in diverse typical driving scenarios of Hong Kong. Sensors. https://doi.org/10.3390/s18113928

2017 (1)

journal Q1

Hsu, L.T., Y., G., & Kamijo, S. (2017).Intelligent Viaduct Recognition and Driving Altitude Determination using GPS Data. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2017.2737325

2016 (5)

journal Q3

Y., G., Hsu, L. T., Bao, J., & Kamijo, S. (2016).Integrating Global Navigation Satellite System and Road-Marking Detection for Vehicle Localization in Urban Traffic. Transportation Research Record Journal. https://doi.org/10.3141/2595-07

journal Q4

Huang, Y., Hsu, L.T., Y., G., Wang, H., & Kamijo, S. (2016).Database Calibration for Outdoor Wi-Fi Positioning System. IEICE Transactions. https://doi.org/10.1587/transfun.e99.a.1683

journal Q1

Hsu, L. T., Y., G., & Kamijo, S. (2016).3D Building Model Pedestrian Positioning Method using GPS/GLONASS/QZSS and Its Reliability Calculation. GPS Solutions. https://doi.org/10.1007/s10291-015-0451-7

journal Q1

Wada, Y., Hsu, L. T., Y., G., & Kamijo, S. (2016).Optimization of 3D Building Models by GPS Measurements. GPS Solutions. https://doi.org/10.1007/s10291-015-0504-y

journal Q1

Y., G., Hsu, L. T., & Kamijo, S. (2016).GNSS/On-Board Inertial Sensor Integration with the Aid of 3D Building Map for Lane-Level Vehicle Self-Localization in Urban Canyon. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2015.2497001

2015 (5)

journal Q4

Hsu, L. T., Chen, F., & Kamijo, S. (2015).Evaluation of Multi-GNSSs and GPS with 3D Map Methods for Pedestrian Positioning in an Urban Canyon Environment. IEICE Transactions. https://doi.org/10.1587/transfun.e98.a.284

journal Q1

Miura, S., Hsu, L. T., Chen, F., & Kamijo, S. (2015).GPS Error Correction with Pseudorange Evaluation Using 3-dimensional Maps. IEEE Transactions on Intelligent Transportation Systems. https://doi.org/10.1109/tits.2015.2432122

journal Q2

Hsu, L. T., Y., G., & Kamijo, S. (2015).NLOS Correction/Exclusion for GNSS Measurement using RAIM and City Building Models. Sensors. https://doi.org/10.3390/s150717329

magazine

Hsu, L. T, Miura, S, & Kamijo, S (2015).Street Smart: 3-D City Mapping and Modeling for Positioning with Multi-GNSS. GPS World.

magazine

Kamijo, S, Y, G., & Hsu, L. T (2015).Autonomous Vehicle Technologies: Localization and Mapping. IEICE Fundamentals Review. https://doi.org/10.1587/essfr.9.2_131

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