城市 GNSS 可靠性与信号误差建模

城市 GNSS多径NLOS衍射多普勒一致性重尾误差测量可靠性不确定度建模

密集城市不是 GNSS 的例外场景,而是它的压力测试。我们研究 GNSS 测量如何失效 —— NLOS、多径、衍射、多普勒畸变、重尾误差 —— 并在它们污染下游估计之前,在测量层检测并量化这些失效。

传统 GNSS 等价对待所有测量,城市 NLOS / 多径 / 衍射污染定位结果;IPNL 在信号层建模可靠性,让每个测量都带可信度标签。

目标不仅是修正"坏测量",更要建模它们的可靠性 —— 让导航管线的其余部分知道何时可以信任。这条方向是环境感知、优化估计和完好性三条方向在测量层的共同基础。

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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

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 (12)

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 Q1

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

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

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

journal Q1 Featured

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

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, 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

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

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

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 (19)

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

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 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

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

journal Q1

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

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

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

journal Q1

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

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

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

journal Q2

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

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

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.

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 (12)

book

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

journal Q1

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

journal Q1

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

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

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

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 (5)

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 Q2

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

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 Q1

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

journal Q1

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

2017 (3)

journal unranked

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.

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

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

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 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

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

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 (6)

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

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

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

2014 (1)

journal Q1

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

2013 (1)

journal unranked

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.

2010 (1)

journal unranked

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.

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