A Data-Driven Factor Graph Model for Anchor-Based Positioning [PDF]
Sensors, 2023 This work presents a data-driven factor graph (FG) model designed to perform anchor-based positioning. The system makes use of the FG to compute the target position, given the distance measurements to the anchor node that know its own position.The aim ...
Ana Moragrega, Carles Fernández-Prades
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A Factor-Graph-Based Approach to Vehicle Sideslip Angle Estimation [PDF]
Sensors, 2021 Sideslip angle is an important variable for understanding and monitoring vehicle dynamics, but there is currently no inexpensive method for its direct measurement.
Antonio Leanza +2 more
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A Novel Factor Graph and Cubature Kalman Filter Integrated Algorithm for Single-Transponder-Aided Cooperative Localization [PDF]
Entropy, 2021 Cooperative localization (CL) of underwater multi-AUVs is vital for numerous underwater operations. Single-transponder-aided cooperative localization (STCL) is regarded as a promising scheme for multi-AUVs CL, benefiting from the fact that an accurate ...
Wanlong Zhao +3 more
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A Train Factor Graph Fusion Localization Method Assisted by GRU-IBiLSTM for Low-Cost SINS/GNSS [PDF]
SensorsThe integrated strapdown inertial navigation system (SINS)/global navigation satellite system (GNSS) has been widely adopted in railway positioning applications.
Cheng Chen, Guangwu Chen, Xinye Ma
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RFG-TVIU: robust factor graph for tightly coupled vision/IMU/UWB integration [PDF]
Frontiers in NeuroroboticsHigh precision navigation and positioning technology, as a fundamental function, is gradually occupying an indispensable position in the various fields. However, a single sensor cannot meet the navigation requirements in different scenarios.
Gongjun Fan +3 more
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A Robust INS/USBL/DVL Integrated Navigation Algorithm Using Graph Optimization
Sensors, 2023 The Autonomous Underwater Vehicle (AUV) is usually equipped with multiple sensors, such as an inertial navigation system (INS), ultra-short baseline system (USBL), and Doppler velocity log (DVL), to achieve autonomous navigation. Multi-source information
Peijuan Li +4 more
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A Belief Propagation Based State Estimator for Semi-Intrusive Load Monitoring System
IEEE Access, 2022 For industrial application of load monitoring techniques, it is important to establish high-performance state estimators of low-cost and low frequency smart meters (SM) and sensors in a power system, which can run under resource-constrained computing ...
Qihong Duan, Feng Li, Junrong Liu
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Gaussian Parameterized Information Aided Distributed Cooperative Underwater Positioning Algorithm
IEEE Access, 2020 With the exploration of marine resources, the number of underwater nodes is increasing with each passing day, and the demand of mutual cooperative position between nodes is becoming extremely urgent.
Lingling Zhang +3 more
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Cooperative Localization and Multitarget Tracking in Agent Networks with the Sum-Product Algorithm
IEEE Open Journal of Signal Processing, 2022 This paper addresses the problem of multitarget tracking using a network of sensing agents with unknown positions. Agents have to both localize themselves in the sensor network and, at the same time, perform multitarget tracking in the presence of ...
Mattia Brambilla +9 more
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RSS-Based Cooperative Localization and Orientation Estimation Exploiting Antenna Directivity
IEEE Access, 2021 In this paper, we propose a factor-graph-based cooperative positioning algorithm that uses RSS radio measurements and accounts for the directivity of the antennas. This is achieved by modeling the directivity with a parametric antenna pattern and jointly
Lukas Wielandner +2 more
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