Publications

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

Song, B., Giamou, M., Yan, P., Xia, C., & Hsu, L.-T. (2026).Certifiable Alignment of GNSS and Local Frames via Lagrangian Duality. IEEE Robotics and Automation Letters. https://doi.org/10.1109/LRA.2026.3693943

Tsang, C.-L., Hoi-Wah, Ng, Luo, Y., Hai, Di, & Hsu, L.-T. (2026).Ultra-low power GNSS L5 band snapshot positioning: A two step approach. IEEE Internet of Things Journal. https://doi.org/10.1109/jiot.2026.3680038

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

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

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

Wang, Q, Huang, X, Shaheer, M, Mohammad, T, Zhang, X, Luo, M, Hsu, L. T, & Usmani, A (2025).Indoor Fire Monitoring Based on Look-Up-From-Floor Sensing of Ceiling (granted) (US 12,292,340 B2). U.S. Patent and Trademark Office. https://patents.google.com/patent/US12292340B2

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

Yan, P., Hu, Y., Wen, W., & Hsu, L. T. (2025).Multiple Faults Isolation For Multi-Constellation GNSS Positioning through Incremental Expansion of Consistent Measurements. IEEE Sensors Journal. https://doi.org/10.1109/jsen.2024.3524434

Bai, S., Wen, W., Su, D., & Hsu, L. T. (2025).Graph-Based Indoor 3D Pedestrian Location Tracking With Inertial-Only Perception. IEEE Transactions on Mobile Computing. https://doi.org/10.1109/tmc.2025.3526196

Yan, P., Li, Z., Huang, F., Wen, W., & Hsu, L. T. (2025).Fault Detection Algorithm for Gaussian Mixture Noises: An Application in Lidar/IMU Integrated Localization Systems. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.33012/navi.684

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

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

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

Yang, P., Wen, W., Bai, S., & Hsu, L. T. (2025).Tightly joined positioning and control model for unmanned aerial vehicles based on factor graph optimization. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2025.3589556

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

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

Zhengdao, Li, Yan, P., Wen, W., & Hsu, L.-T. (2025).Paired Cauchy-Gaussian overbound for not symmetric unimodal heavy-tailed distributions. 2025 IEEE/ION Position, Location and Navigation Symposium (PLANS). https://doi.org/10.1109/PLANS61210.2025.11028215

Huang, F., Zhong, Y., Chen, H., Dongzhe, Su, Jin, Wu, Wen, W., & Hsu, L.-T. (2025).Roadside GNSS Aided Multi-Sensor Integrated System for Vehicle Positioning in Urban Areas. 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). https://doi.org/10.1109/IROS60139.2025.11246475

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

Song, B., Wen, W., & Hsu, L.-T. (2025).Certifiably Optimal Satellite Orbit Determination Based on Doppler Measurements for Low-Earth-Orbit Satellites. 2025 IEEE/ION Position, Location and Navigation Symposium (PLANS). https://doi.org/10.1109/PLANS61210.2025.11028259

Wen, W, Zhang, G, & Hsu, L. T (2024).A method and system for GNSS positioning assisted by three-dimensional map (CN 111679298A). China National Intellectual Property Administration. https://patents.google.com/patent/CN111679298A

Wang, Q, Huang, X, Shaheer, M, Mohammad, T, Zhang, X, Luo, M, Hsu, L. T, X, W., Xiao, F, & Usmani, A (2024).Indoor Fire Monitoring Based on Look-Up-From-Floor Sensing of Ceiling (US 2023/0062745 A1). U.S. Patent and Trademark Office. https://patents.google.com/patent/US20230062745A1

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

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

Xin, S., Geng, J., & Hsu, L. T. (2024).Factor Graph Optimization-based GNSS PPP-RTK: An Alternative Platform to Study Urban GNSS Precise Positioning. IEEE Transactions on Aerospace and Electronic Systems. https://doi.org/10.1109/taes.2024.3360380

Iyer, K., Dey, A., Xu, B., Sharma, N., & Hsu, L. T. (2024).Enhancing positioning in GNSS denied environments based on an extended Kalman filter using past GNSS measurements and IMU. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2024.3360076

Zhong, Y., Hu, R., Bai, X., Li, X., Hsu, L. T., & Wen, W. (2024).Enhancing GNSS Positioning Accuracy for Road Monitoring Systems: A Factor Graph Optimization Approach Aided by Geospatial Information. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/tim.2024.3369156

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

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

Vicenzo, S., Xu, B., Xu, H., & Hsu, L. T. (2024).GNSS direct position estimation-inspired positioning with pseudorange correlogram for urban navigation. GPS Solutions. https://doi.org/10.1007/s10291-024-01627-5

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

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

Zhong, Y., Wen, W., & Hsu, L. T. (2024).Trajectory Smoothing Using GNSS/PDR Integration Via Factor Graph Optimization in Urban Canyons. IEEE Internet of Things Journal. https://doi.org/10.1109/jiot.2024.3396360

Jin, R., Zhang, G., Hsu, L. T., & Hu, Y. (2024).A Survey on Cooperative Positioning Using GNSS Measurements. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2024.3397879

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

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

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

Bai, S., Wen, W., Hsu, L. T., & Yang, P. (2024).Factor Graph Optimization-Based Smartphone IMU-Only Indoor SLAM With Multi-Hypothesis Turning Behavior Loop Closures. IEEE Transactions on Aerospace and Electronic Systems. https://doi.org/10.1109/taes.2024.3430256

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

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

Yan, P., Zhong, Y., & Hsu, L. T. (2024).Principal Gaussian Overbound for Heavy-tailed Error Bounding. IEEE Transactions on Aerospace and Electronic Systems. https://doi.org/10.1109/taes.2024.3448405

Yan, P., Xia, X., Brizzi, M., Wen, W., & Hsu, L. T. (2024).Subspace-based Adaptive GMM Error Modeling for Fault-Aware Pseudorange-based Positioning in Urban Canyons. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2024.3450198

Xia, X., Wen, W., & Hsu, L. T. (2024).Integrity-Constrained Factor Graph Optimization for GNSS Positioning in Urban Canyons. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.33012/navi.660

Zhang, J., Liu, X., Wen, W., & Hsu, L. T. (2024).Safety-Quantifiable Planar-Feature-based LiDAR Localization with a Prior Map for Intelligent Vehicles in Urban Scenarios. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2024.3467115

Bai, S., Wen, W., Li, Y., Shi, C., & Hsu, L. T. (2024).Towards Persistent Spatial Awareness: A Review of Pedestrian Dead Reckoning-Centric Indoor Positioning with Smartphones. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/tim.2024.3470043

Fang, J., Zhang, L., Zhang, G., Xu, B., & Hsu, L. T. (2024).Characterization and Validation of GNSS Multipath-Induced Doppler Measurement Error. IEEE Transactions on Aerospace and Electronic Systems. https://doi.org/10.1109/taes.2024.3487132

Ho, H. Y., Ng, H. F., Wen, W., Gu, Y., & Hsu, L. T. (2024).Enhancing Smartphone-based Pedestrian Positioning: Using Factor Graph Optimization with Indoor/Outdoor Detection for 3DMA GNSS/Visual-Inertial State Estimation. Journal of Data Science and Intelligent Systems. https://doi.org/10.47852/bonviewjdsis42022961

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

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

Bai, S., Wen, W., Yue, Yu, & Hsu, L.-T. (2024).Invariant Extended Kalman Filtering for Pedestrian Deep-Inertial Odometry. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. https://doi.org/10.5194/isprs-archives-xlviii-4-2024-607-2024

Fang, J., Zhang, L., Zhang, G., Bing, Xu, & Hsu, L.-T. (2024).Modeling and Validation of GNSS Multipath-Induced Doppler Tracking Error. The International Technical Meeting of the The Institute of Navigation. https://doi.org/10.33012/2024.19549

Yan, P., Zhong, Y., & Hsu, L.-T. (2024).Bounding the Heavy-Tailed Pseudorange Error by Leveraging Membership Weights Analysis of Gaussian Mixture Model. ION Pacific PNT. https://doi.org/10.33012/2024.19604

Debiao, Lu, Wang, H., Cai, B., Wang, J., Liu, J., Zhang, G., & Hsu, L.-T. (2024).BDS for Train Localization Performance Forecast in Railway Environments Using Machine Learning. ION Pacific PNT. https://doi.org/10.33012/2024.19652

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

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

Hoi-Fung, Ng, Penghui, Xu, Zhong, Y., Zhang, G., Wen, W., & Hsu, L.-T. (2024).DGNSS Corrected Pseudorange and Time-Differenced Carrier Phase (TDCP) Measurements using Differentiable Factor Graph Optimization (DFGO). ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation. https://doi.org/10.33012/2024.19908

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

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

Yuan, Li, Liu, X., Wen, W., Hsu, L.-T., Yuan, Y., Bian, G., & Chen, Q. (2024).Factor Graph Optimization Based Multi Epoch Ambiguity Resolution for GNSS RTK and its Evaluation in Hong Kong Urban Canyons. ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation. https://doi.org/10.33012/2024.19805

Yan, P., Wen, W., Huang, F., & Hsu, L.-T. (2024).A Fault Detection Algorithm for LiDAR/IMU Integrated Localization Systems with Non-Gaussian Noises. The International Technical Meeting of the The Institute of Navigation. https://doi.org/10.33012/2024.19564

Lee, M. J. L., Lin, Ju, & Hsu, L.-T. (2024).Exploring the Feasibility of Automated Data Standardization using Large Language Models for Seamless Positioning. 2024 14th International Conference on Indoor Positioning and Indoor Navigation (IPIN). https://doi.org/10.1109/IPIN62893.2024.10786123

Lian, J., Zhou, J., Luo, Y., Zhang, G., & Hsu, L.-T. (2024).Improving GNSS Positioning in Challenging Urban Areas by Digital Twin Database Correction. 2024 14th International Conference on Indoor Positioning and Indoor Navigation (IPIN). https://doi.org/10.1109/IPIN62893.2024.10786144

Meiling, Su, Wang, B., Ahad, S., Huang, X., Zhang, G., & Hsu, L.-T. (2024).An Adaptive Weighted GNSS/VINS/Wi-Fi RTT-based Seamless Positioning System for Smartphone. 2024 14th International Conference on Indoor Positioning and Indoor Navigation (IPIN). https://doi.org/10.1109/IPIN62893.2024.10786175

Marais, J., Crespillo, O. G., & Hsu, L.-T. (2023).Editorial: Enhanced GNSS-based localization solutions with artificial intelligence. Frontiers in Robotics and AI. https://doi.org/10.3389/frobt.2023.1265989

Jia, Q., Luo, Y., Bing, Xu, Hsu, L.-T., & Renbiao, Wu (2023).A robust vector tracking loop structure based on potential bias analysis. Chinese Journal of Aeronautics. https://doi.org/10.1016/j.cja.2023.11.013

Luo, Y., Hsu, L. T., Jiang, Y., Liu, B., Zhang, Z., Xiang, Y., & El-Sheimy, N. (2023).High-Accuracy Absolute-Position-Aided Code Phase Tracking Based on RTK/INS Deep Integration in Challenging Static Scenarios. Remote Sensing. https://doi.org/10.3390/rs15041114

Zhong, Y., Huang, F., Zhang, J., Wen, W., & Hsu, L. T. (2023).Low‐cost solid‐state LiDAR/inertial‐based localization with prior map for autonomous systems in urban scenarios. IET Intelligent Transport Systems. https://doi.org/10.1049/itr2.12273

Chang, H., Gu, Y., Goncharenko, I., Hsu, L. T., & Premachandra, C. (2023).Cyclist Orientation Estimation Using LiDAR Data. Sensors. https://doi.org/10.3390/s23063096

Yan, P., Wen, W., & Hsu, L. T. (2023).Integration of Vehicle Dynamic Model and System Identification Model for Extending the Navigation Service Under Sensor Failures. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2023.3273185

Chang, J., Huang, F., Zhang, L., Xu, D., & Hsu, L. T. (2023).Selection of Areas for Effective GNSS Spoofing Attacks to a Vehicle-mounted MSF System based on Scenario Classification Models. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2023.3279831

Tsang, C. L., Luo, Y., Xu, B., & Hsu, L. T. (2023).C/N0 Assessment Based on GPS L5/L1C/A Signal Acquisition in Open-Sky/Light-Urban/Dense-Urban/Indoor Environments with Extended Coherent Integration Time. Journal of Aeronautics, Astronautics and Aviation.

Chan, Y. Y., Ng, K. K., Lee, C. K. M., Hsu, L. T., & Keung, K. L. (2023).Wind dynamic and energy-efficiency path planning for unmanned aerial vehicles in the lower-level airspace and urban air mobility context. Sustainable Energy Technologies and Assessments. https://doi.org/10.1016/j.seta.2023.103202

Zhang, L., Wen, W., Hsu, L. T., & Zhang, T. (2023).An Improved Inertial Preintegration Model in Factor Graph Optimization for High Accuracy Positioning of Intelligent Vehicles. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2023.3282623

Zhang, Z., Li, Y., He, X., & Hsu, L. (2023).Resilient GNSS real-time kinematic precise positioning with inequality and equality constraints. GPS Solutions. https://doi.org/10.1007/s10291-023-01454-0

Fang, J., Yue, J., Xu, B., & Hsu, L. T. (2023).A post-correlation graphical way for continuous GNSS spoofing detection. Measurement. https://doi.org/10.1016/j.measurement.2023.112974

Luo, Y., Hsu, L. T., Tsang, C. L., & El-Sheimy, N. (2023).An Unassisted Super-Resolution Satellite Navigation Receiver Using GPS L5 Signals. IEEE Transactions on Aerospace and Electronic Systems. https://doi.org/10.1109/taes.2023.3293782

Dey, A., Iyer, K., Xu, B., Sharma, N., & Hsu, L. T. (2023).Performance Evaluation of Vectorized NavIC Receiver Using Improved Dual-Frequency NavIC Measurements. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/tim.2023.3295020

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

Luo, Y., Hsu, L. T., & El-Sheimy, N. (2023).A Baseband MLE for Snapshot GNSS Receiver Using Super-Long-Coherent Correlation in a Fractional Fourier Domain. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.33012/navi.588

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

Liu, X., Wen, W., & Hsu, L. T. (2023).GLIO: Tightly-coupled gnss/lidar/imu integration for continuous and drift-free state estimation of intelligent vehicles in urban areas. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2023.3323648

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

Chang, J., Zhang, Y., Fan, S., Huang, F., Xu, D., & Hsu, L. T. (2023).An Anti-spoofing Model based on MVM and MCCM for a Loosely-coupled GNSS/INS/LiDAR Kalman Filter. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2023.3335356

Huang, F., Wen, W., Zhang, J., Wang, C., & Hsu, L. T. (2023).Dynamic Object-aware LiDAR Odometry Aided by Joint Weightings Estimation in Urban Areas. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2023.3338141

Chen, P., Guan, W., Huang, F., Zhong, Y., Wen, W., Hsu, L. T., & Lu, P. (2023).ECMD: An Event-Centric Multisensory Driving Dataset for SLAM. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2023.3339144

Hsu, L. T., Huang, F., Ng, H. F., Zhang, G., Zhong, Y., Bai, X., & Wen, W. (2023).Hong Kong UrbanNav: An open-source multisensory dataset for benchmarking urban navigation algorithms. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.33012/navi.602

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

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

Zhong, Y., Wen, W., & Hsu, L.-T. (2023).Towards Accurate Vehicle-to-Pedestrian Relative Positioning Aided by Inter-Frame and Inter-Agent GNSS Measurement Collaboration Using Factor Graph Optimization for Smart Summon. Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023). https://doi.org/10.33012/2023.19471

Zheng, Xi, Wen, W., & Hsu, L.-T. (2023).Tightly-coupled Line Feature-aided Visual Inertial Localization within Lightweight 3D Prior Map for Intelligent Vehicles. 2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC). https://doi.org/10.1109/itsc57777.2023.10422196

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

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

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

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

Bai, S., Wen, W., Hsu, L.-T., & Yue, Yu (2023).Factor Graph Optimization-based Indoor Pedestrian SLAM with Probabilistic Exact Activity Loop Closures using Smartphone. 2023 13th International Conference on Indoor Positioning and Indoor Navigation (IPIN). https://doi.org/10.1109/ipin57070.2023.10332510

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

Vicenzo, S., Bing, Xu, Dey, A., & Hsu, L.-T. (2023).Experimental Investigation of GNSS Direct Position Estimation in Densely Urban Area. Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023). https://doi.org/10.33012/2023.19341

Penghui, Xu, Hoi-Fung, Ng, Zhong, Y., Zhang, G., Wen, W., Yang, Bo, & Hsu, L.-T. (2023).Differentiable Factor Graph Optimization with Intelligent Covariance Adaptation for Accurate Smartphone Positioning. Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023). https://doi.org/10.33012/2023.19297

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

Huang, F., Wen, W., Zhang, G., Dongzhe, Su, & Hsu, L.-T. (2023).Adaptive Multi-Sensor Integrated Navigation System Aided by Continuous Error Map from RSU for Autonomous Vehicles in Urban Areas. 2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC). https://doi.org/10.1109/itsc57777.2023.10422216

Zhang, H., Wen, W., & Hsu, L.-T. (2023).A New GNSS Ambiguity Resolution Method Through Mixed Integer Programming. Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023). https://doi.org/10.33012/2023.19317

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

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

Hsu, L. T& Wen, W (2022).3d lidar aided global navigation satellite system and the method for non-line-of-sight detection and correction (US 2023/0033404 A1). U.S. Patent and Trademark Office. https://patents.google.com/patent/US20230033404A1

Wen, W., Zhang, G., & Hsu, L. T. (2022).GNSS Outlier Mitigation via Graduated Non-Convexity Factor Graph Optimization. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2021.3130909

Dey, A., Iyer, K., B., X., Sharma, N., & Hsu, L. T. (2022).Carrier-Aided Dual Frequency Vectorized Tracking Architecture for NavIC Signals. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/tim.2022.3146927

Bai, X., Wen, W., & Hsu, L. T. (2022).Time-correlated Window Carrier-phase Aided GNSS Positioning Using Factor Graph Optimization for Urban Positioning. IEEE Transactions on Aerospace and Electronic Systems. https://doi.org/10.1109/taes.2022.3149730

Zhang, J, Wen, W, Huang, F, Wang, Y, Chen, X, & Hsu, L. T. (2022).GNSS-RTK Adaptively Integrated with LiDAR/IMU Odometry for Continuously Global Positioning in Urban Canyons. Applied Sciences. https://doi.org/10.3390/app12105193

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

Zhang, L.& Hsu, L. T. and Zhang T. (2022).A Novel INS/USBL Integrated Navigation Scheme Via Factor Graph Optimization. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2022.3177739

Meng, Q. and Hsu L. T. (2022).Resilient Interactive Sensor-Independent-Update Fusion Navigation Method. IEEE Transactions on Intelligent Transportation Systems. https://doi.org/10.1109/tits.2022.3150273

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

Jia, Q., Hsu, & L. T. and Wu, R. (2022).Scalar and vector tracking loop simulation based on a uniform semi-analytic model and robustness analysis in multipath/NLOS situations. GPS Solutions. https://doi.org/10.1007/s10291-022-01280-w

Yue, J.& Xu B. and Hsu, L. T. (2022).Data Denoising Based on Hadamard Matrix Transformation and Rayleigh Quotient Maximization: Application to GNSS Signal Classification. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/tim.2022.3184357

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

Lee, J& Hsu, L. T (2021).Multi-feature visual positioning method (CN 115527044A). China National Intellectual Property Administration. https://patents.google.com/patent/CN115527044A

S., H., Kan, Y.C., & Hsu, L.T. (2021).Localization Uncertainty Constrained Lateral PID Control with Aids of Fuzzy Logic Considering LiDAR NDT Matching Error. Journal of Aeronautics, Astronautics and Aviation, Series A.

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

Jiang, C., B., X., & Hsu, L. T. (2021).A Probabilistic Approach to Detect and Mitigate GNSS NLOS Using State Augmented Kalman Filter. GPS Solutions. https://doi.org/10.1007/s10291-021-01101-6

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

Zhang, G., B., X., H.F., N., & Hsu, L. T. (2021).GNSS RUMS: GNSS Realistic Urban Multi-agent Simulator for Collaborative Positioning Research. Remote Sensing. https://doi.org/10.20944/preprints202012.0647.v1

Wen, W., Pfeifer, T., Bai, X., & Hsu, L. T. (2021).Factor Graph Optimization for GNSS/INS Integration: A Comparison with the Extended Kalman Filter. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.1002/navi.421

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

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

Zhang, J., Wen, W., Huang, F., & Hsu, L. T. (2021).Coarse-to-Fine Loosely-Coupled LiDAR-Inertial Odometry for Urban Positioning and Mapping. Remote Sensing. https://doi.org/10.3390/rs13122371

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

Yang, S.& Hsu, L.T. (2021).Tightly Coupled Integrated Navigation System Via Factor Graph for UAV Indoor Localization. Aerospace Science and Technology. https://doi.org/10.1016/j.ast.2020.106370

Luo, H., Y., L., Wang, J., Weng, D., J., Y., Hsu, L. T., & Chen, W. (2021).Integration of GNSS and BLE Technology With Inertial Sensors for Real-Time Positioning in Urban Environments. IEEE Access. https://doi.org/10.1109/access.2021.3052733

Yue, J., Wen, W., Han, J., & Hsu, L. T. (2021).3D Point Clouds Data Super Resolution Aided LiDAR Odometry for Vehicular Positioning in Urban Canyons. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2021.3069212

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

Xue, D., Hsu, L. T., Wu, C-.L., Lee, C-.H., & Ng, K. K. H. (2021).Cooperative surveillance systems and digital-technology enabler for a real-time standard terminal arrival schedule displacement. Advanced Engineering Informatics. https://doi.org/10.1016/j.aei.2021.101402

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

Bai, X., Wen, W., & Hsu, L. T. (2021).Degeneration-aware Outlier Mitigation for Visual Inertial Integrated Navigation System in Urban Canyons. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/tim.2021.3126010

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

El-Mowafy, A., B., X., & Hsu, L. T. (2020).Integrity Monitoring of multi-GNSS SPP and DGNSS in Urban Environment using ARAIM and 3D City Models. Journal of Spatial Science.

Meng, Q.& Hsu, L. T. (2020).Integrity for Autonomous Vehicles and Towards a Novel Alert Limit Determination Method. Proc. IMechE, Part D: Journal of Automobile Engineering. https://doi.org/10.1177/0954407020965760

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

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

Xue, D., H., N. K., & Hsu, L. T. (2020).Multi-Objective Flight Altitude Decision Considering Contrails, Fuel Consumption and Flight Time. Sustainability. https://doi.org/10.3390/su12156253

Chiang, K. W., H., L. Y., Hsu, L. T., & Chu, F. Y. (2020).The Design a TDCP-Smoothed GNSS/Odometer Integration Scheme with Vehicular-Motion Constraint and Robust Regression. Remote Sensing. https://doi.org/10.3390/rs12162550

Bai, X., Wen, W., & Hsu, L. T. (2020).Robust Visual-Inertial Integrated Navigation System Aided by Online Sensor Model Adaption for Autonomous Ground Vehicles in Urban Areas. Remote Sensing. https://doi.org/10.20944/preprints202003.0018.v1

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

Meng, Q.& Hsu, L. T. (2020).Integrity Monitoring for All-Source Navigation Enhanced by Kalman Filter-Based Solution Separation. IEEE Sensors Journals. https://doi.org/10.1109/jsen.2020.3026081

Sun, R., L., F., Wang, G, Cheng, Q., & Hsu, L. T. and Ochieng W. Y. (2020).Using Dual-Polarization GPS Antenna with Optimized Adaptive Neuro-Fuzzy Inference System to Improve Single Point Positioning Accuracy in Urban Canyons. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.1002/navi.408

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

Wen, W., Bai, X., Zhang, G., Chen, S., Yuan, F., & Hsu, L. T. (2020).Multi-Agent Collaborative GNSS/Camera/INS Integration Aided by Inter-ranging for Vehicular Navigation in Urban Areas. IEEE Access. https://doi.org/10.1109/access.2020.3006210

H.F., N., Zhang, G., Yang, K.Y., & Yang, S. X. Hsu L. T. (2020).Improved Weighting Scheme using Consumer-level GNSS L5/E5a/B2a Pseudorange Measurements in the Urban Area. Advances in Space Research. https://doi.org/10.1016/j.asr.2020.06.002

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

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

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

Jia, Q., Hsu, L. T., B., X., & R., W. (2020).Assessment of beamforming for GNSS multipath mitigation with a cost-effective structure. Journal of Navigation.

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

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

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

Zhang, G& Hsu, L. T (2019).It is a kind of based on the co-located method and system of three-dimensional map assisted GNSS, positioning device, storage medium (CN 110426717A). China National Intellectual Property Administration. https://patents.google.com/patent/CN110426717A

Xue, D., Sun, R., & Hsu, L. T. (2019).Optimal Takeoff Time Assignment under Severe Weather. Journal of Aeronautics, Astronautics and Aviation, Series A.

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

B., X.& Hsu, L. T. (2019).An Open Source Matlab Code on GPS Vector Tracking based on Software-Defined Receiver. GPS Solutions. https://doi.org/10.1007/s10291-019-0839-x

Luo, Y., J., L., C., Y., B., X., Y., L., Hsu, L. T., & El-Sheimy, N. (2019).Research on Time-Correlated Errors Using Allan Variance in a Kalman Filter Applicable to Vector-Tracking-Based GNSS Software-Defined Receiver for Autonomous Ground Vehicle Navigation. Remote Sensing. https://doi.org/10.3390/rs11091026

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

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

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

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

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

B., X.& Jia, Q. and Hsu L. T. (2019).Vector Tracking Loop-based GNSS NLOS Detection and Correction: Algorithm Design and Performance Analysis. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/tim.2019.2950578

Meng, Q., Hsu, L. T., B., X., Luo, X., & El-Mowafy, A. (2019).A GPS Spoofing Generator using an Open Sourced Vector Tracking-Based Receiver. Sensors. https://doi.org/10.3390/s19183993

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

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

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

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

Y., G., Hsu, L.T., & Kamijo, S. (2018).Towards lane-level traffic monitoring in urban environment using precise probe vehicle data derived from three-dimensional map aided differential GNSS. IATSS Research. https://doi.org/10.1016/j.iatssr.2018.03.001

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

Hsu, L. T. (2018).Analysis and Modelling GPS NLOS effect in Highly Urbanized Area. GPS Solutions. https://doi.org/10.1007/s10291-017-0667-9

Zhang, G.& Hsu, L.T. (2018).A New Path Planning Algorithm Using GNSS Localization Error Map for UAV in Urban Area. Journal of Intelligent & Robotic Systems. https://doi.org/10.1007/s10846-018-0894-5

Zhang, G.& Hsu, L. T. (2018).Intelligent GNSS/INS Integrated Navigation System for a Commercial UAV Flight Control System. Aerospace Science and Technology. https://doi.org/10.1016/j.ast.2018.07.026

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

Kubo, N., Kobayashi, K., Hsu, L.T., & Amai, O. (2017).Multipath Mitigation Technique under Strong Multipath Environment Using Multiple Antennas. Journal of Aeronautics, Astronautics and Aviation, Series A.

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

Hsu, L. T., Tokura, H., Kubo, N., Y., G., & Kamijo, S. (2017).Multiple Faulty GNSS Measurement Exclusion based on Consistency Check in Urban Canyons. IEEE Sensors Journal. https://doi.org/10.1109/jsen.2017.2654359

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

Y., G., Hashimoto, Y., Hsu, L. T., Iryo-Asano, M., & Kamijo, S. (2016).Human-like motion planning model for driving in signalized intersections. IATSS Research. https://doi.org/10.1016/j.iatssr.2016.11.002

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

Y., G., Hsu, L. T., & Kamijo, S. (2016).Accurate Estimation of Pedestrian Orientation from On-board Camera and Inertial Sensors. IEICE Transactions. https://doi.org/10.1587/transfun.e99.a.271

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

Hsu, L. T., Y., G., Huang, Y., & Kamijo, S. (2016).Urban Pedestrian Navigation using Smartphone-based Dead Reckoning and 3D Maps Aided GNSS. IEEE Sensors Journal. https://doi.org/10.1109/jsen.2015.2496621

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

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

Hashimoto, Y., Y., G., Hsu, L. T., Iryo-Asano, M., & Kamijo, S. (2016).A probabilistic model of pedestrian crossing behavior at signalized intersections for connected vehicles. Transportation Research Part C-Emerging Technologies. https://doi.org/10.1016/j.trc.2016.07.011

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

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

Y., G., Hsu, L. T, & Kamijo, S. (2015).Passive Sensor Integration for Vehicle Self-Localization in Urban Traffic Environment. Sensors. https://doi.org/10.3390/s151229795

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

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

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

Hsu, L. T., Jan, S. S., Groves, P. D., & Kubo, N. (2014).Multipath mitigation and NLOS detection using vector tracking in urban. GPS Solutions. https://doi.org/10.1007/s10291-014-0384-6

Hsu, L. T.& Jan, S. S. (2013).Performance Analysis of Advanced GPS Receiver Technique in Radio Frequency Difficult Environment. Journal of Aeronautics, Astronautics and Aviation, Series A.

Hsu, L. T., Tsai, W. M., & Jan, S. S. (2011).Real-Time Indoor Location Based Service Test Bed I. Coordinates Magazine.

Hsu, L. T, Tsai, W. M, & Jan, S. S (2011).Real Time Indoor Location Based Service Test Bed (II). Coordinates Magazine.

Jan, S. S.& Hsu, L. T. (2010).Assessment of Composite PRN Code Acquisition Methods for GPS Signal. Journal of the Chinese Society of Mechanical Engineers.

Jan, S. S., Hsu, L. T., & Tsai, W. M. (2010).Development of an Indoor Location Based Service Test Bed and Geographic Information System with a WSN. Sensors. https://doi.org/10.3390/s100402957

Tao, A. L., Hsu, L. T., & Jan, S. S. (2010).Wide Area Differential GNSS in Taiwan: Development and Validation Testing. Journal of Aeronautics, Astronautics and Aviation, Series A.

Hsu, L. T., Tsai, W. M., & Jan, S. S. (2009).Development of Indoor Positioning and Location Based Information Test Bed. Journal of Aeronautics, Astronautics and Aviation, Series A.