環境感知與 3D 地圖輔助 PNT

3D 地圖輔助 GNSS3DMA GNSS3D 城市模型LiDAR 地圖光線追蹤數位孿生天空可視性Skymask 匹配環境感知定位

方向負責人： Guohao Zhang

城市本身成為導航系統的一部分。我們用 3D 城市模型、LiDAR 地圖、天空可視性、光線追蹤與數位孿生預測 GNSS 衛星可見性、識別 NLOS 與多徑、提升精度並評估可靠性。

傳統 GNSS 把城市視作障礙;IPNL 用 3D 城市模型 + LiDAR 地圖 + 光線追蹤預測 NLOS / 多徑。

城市環境不僅是障礙,更可以變成可信導航的先驗資訊。這條研究方向源自許立達教授在東京的博士後工作,以及由他創辦的 ION/IAG 亞洲城市峽谷定位導航工作組,也是 US12123961B2 專利(3D LiDAR 輔助 GNSS NLOS 偵測與修正)與長期華為 3DMA GNSS 行動端合作的技術內核。

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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

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

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

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

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journal Q2

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2020 (10)

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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

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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

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2019 (10)

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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

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2018 (3)

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2017 (1)

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2016 (5)

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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

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journal Q1

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2015 (5)

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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

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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

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magazine

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