IPNL 智能定位与导航实验室 EN 简 繁
研究方向

完好性、故障检测与安全可信定位

既估计状态、也估计可信度 —— 故障检测、非高斯过界、保护级计算、完好性约束优化,服务于安全关键自主系统。

导航完好性故障检测保护级过界非高斯误差完好性约束 FGO安全关键定位欺骗检测

方向负责人： Penggao Yan

对安全关键导航而言,仅有精度还不够:一个错误位置上的确信回答,比一句诚实的"我不知道"更危险。这条研究方向构建的系统既估计自己在哪,也估计这个答案能否被信任 —— 同时输出状态估计与可量化的保护级。

传统估计器只输出位置而没有可信度,对安全关键自主系统极其危险;IPNL 同时估计状态与可信度 —— 故障检测、非高斯过界、保护级 —— 输出可用于安全决策的结果。

我们研发故障检测、非高斯误差过界、保护级计算与完好性约束优化。代表性工作:重尾误差过界的主高斯过界方法(Yan, Zhong, Hsu, IEEE TAES 2024)、完好性约束因子图优化(Xia, Wen, Hsu, NAVIGATION 2024)、LiDAR/IMU 集成定位中高斯混合噪声的故障检测(Yan 等, NAVIGATION 2025)。

这条研究方向也是 2023 年 ION Per Enge 早期成就奖与 RGC 研究影响基金 R5009-21(HK$4.43M 总额(其中 RGC HK$3.1M),项目协调人,2021–2026)的技术内核。

实验室成员

Weisong Wen (11) Penggao Yan (7) Feng Huang (4) Bing Xu (3) Qian Meng (3) Jiachong Chang (2) Xiao Xia (2) Xiwei Bai (2) Yihan Zhong (2) Zhengdao Li (2) Baoshan Song (1) Guohao Zhang (1) Jiachen Zhang (1) Liang Zhang (1) Sai Hu (1) Yuan Li (1) Yuhao Zhang (1)

相关项目

相关论文

2026 (4)

journal Q1
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
journal Q1
Yan, P., Zhan, X., Sun, R., & Hsu, L.-T. (2026).Credible Uncertainty Quantification Under Noise and System Model Mismatch in Localization Systems. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/tim.2026.3682809
journal Q2
Yuan, Li, Yan, P., & Hsu, L.-T. (2026).Investigation of performance improvement in GNSS PPP-RTK ambiguity resolution. Advances in Space Research. https://doi.org/10.1016/j.asr.2026.01.099
journal Q1
Yan, P., Jin, R., Zhang, J., Wang, C.-W., & Hsu, L.-T. (2026).Jackknife ARAIM: Efficient GNSS Integrity Monitoring for Simultaneous Faults under Non-Gaussian Errors. Aerospace Systems. https://doi.org/10.1007/s42401-026-00457-2

2025 (6)

patent
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
journal Q1
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
journal Q1
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
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
conference
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
conference
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

2024 (9)

patent
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
patent
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 (granted) (ZL 202211006213.6). China National Intellectual Property Administration (CNIPA).
patent
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 (granted) (US 11,860,043 B2). U.S. Patent and Trademark Office. https://patents.google.com/patent/US11860043B2
journal Q1
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
journal Q1
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
journal Q1
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
journal Q1
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
conference
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
conference
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

2023 (5)

patent
Meng, Q& Hsu, L. T (2023).Integrity Monitoring Method, Apparatus and Electronic Device for Navigation Systems (导航系统的完好性监测方法、完好性监测装置及电子设备, granted) (ZL 202010387470.3). China National Intellectual Property Administration (CNIPA).
journal Q1
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
journal Q1
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
journal Q1
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
journal Q1
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

2022 (2)

patent
Meng, Q, Hsu, L. T, & B, X. (2022).Spoofing Signal Generation Method and Apparatus (欺骗信号生成方法及装置, granted) (ZL 201910778721.8). China National Intellectual Property Administration (CNIPA).
journal Q1
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

2021 (2)

journal unranked
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.
journal Q1
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

2020 (3)

journal Q3
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.
journal Q3
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
journal Q1
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

2019 (2)

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 Q2
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

2018 (1)

journal Q2
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

2017 (1)

journal Q1
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

2010 (1)

journal unranked
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.