Search Results (4,707)

Autonomous vehicles at level 3 and above must maintain high navigation accuracy, particularly in global navigation satellite system (GNSS)-denied environments. The main innovations of this work are threefold. First, we integrate visual inertial odometry (VIO) and light detection and ranging (LiDAR) inertial odometry (LIO) as external updates to mitigate the rapid drift of micro-electromechanical system (MEMS)-based industrial-grade inertial measurement units (IMUs) during long-term GNSS outages. Second, we adopt a redundant IMU (RIMU) approach that fuses multiple low-cost IMUs to reduce sensor noise and improve reliability. Third, we propose a system calibration methodology using both static and dynamic vehicle motion to estimate extrinsic parameters (boresight angles and lever arms) of the sensors, achieving an overall boresight angle root-mean-square error of 0.04 degrees in the simulation. Experiments were conducted under a 7 min GNSS-denied scenario in an underground parking lot, allowing for comparison of the error characteristics of multi-sensor fusion schemes against a navigation-grade reference. The INS/GNSS/LIO framework achieved a two-dimensional root-mean-square position error of 1.22 m (95% position error within 2.5 m), meeting the lane-level (1.5 m) accuracy requirement under a GNSS outage exceeding 7 min without prior maps. In contrast, the RINS/GNSS/VIO framework yielded a 4.71 m 2D mean position error under the same conditions. This paper provides a quantitative comparison of the baseline error characteristics of VIO-, LIO-, and RIMU-assisted INS/GNSS fusion under a GNSS-denied navigation scenario. Full article

Archaeological sites characterized by the coexistence of extensive above-ground terrain and hypogeum structures present major challenges for accurate and comprehensive geospatial documentation. Conventional survey approaches—such as static terrestrial laser scanning (TLS), total-station measurements, and aerial photogrammetry—often suffer from operational constraints, particularly in the presence of narrow underground spaces, low or absent illumination, harsh environmental conditions, and restrictions on UAV deployment. Additional complexity arises when both surface and subterranean elements must be consistently georeferenced to a common global reference system, especially where establishing a traditional topographic–geodetic control network is impractical. Within the framework of the EIMAWA Egyptian–Italian Mission conducted by the University of Milano since 2018, the Geomatics group of the University of Bologna designed and implemented a multi-scale multi-technique 3D documentation workflow, with a prominent role assumed by Simultaneous Localization and Mapping (SLAM) mobile laser scanning. The approach was supported by GNSS measurements providing centimetric accuracy. SLAM was employed to document both the surface necropolis and multiple hypogeal tombs, enabling rapid acquisition of dense three-dimensional data in environments where traditional techniques are limited. All datasets were integrated within a unified reference system, resulting in a coherent, multi-layered spatial dataset representing both landscape and underground spaces. The results demonstrate that SLAM can produce dense point clouds that document at few-centimetric level accuracy and continuously both above- and below-ground contexts. Quantitative analyses of the co-registration and mutual alignment of multiple SLAM datasets confirm a high degree of internal consistency, further enhanced through post-processing refinement. Overall, the experience indicates that this solution represents a practical and reliable technique for complex archaeological surveying. Full article

This paper presents the H-CoRE (Heterogeneous Cooperative Multi-Robot Execution) framework designed to enable autonomous multi-robot operations in GNSS-denied environments. Built on an ROS 2-based architecture, H-CoRE enables collaborative, structured task execution through standardized software stacks. Each robot’s stack combines a high-level executive system with an agent-specific motion layer and leverages multi-sensor fusion for localization and mapping. The framework is inherently reconfigurable, allowing individual agents to operate autonomously or as part of a multi-robot team for collaborative missions. In the considered scenario, the system integrates aerial and ground vehicles, a fixed pan–tilt–zoom camera, and a human supervisory interface within a unified, modular infrastructure. The proposed system has been deployed in indoor, GNSS-denied environments, demonstrating autonomous navigation, cooperative area coverage, and real-time information sharing across multiple agents. Experimental results confirm the effectiveness of H-CoRE in maintaining general awareness and mission continuity, paving the way for future applications in search-and-rescue, inspection, and exploration tasks. Full article

The need for Structural Health Monitoring is evident in order to ensure the safety of civil infrastructure. The goal of vibration monitoring is to derive the eigenfrequencies, mode shapes and damping of a structure. A change in the eigenfrequency over time can indicate deterioration or damage in a structure. The amplitude can be used to calculate the damping ratio. As the damping ratio is amplitude-dependent, it is important to correctly determine the amplitude values. This study focuses on the amplitude correctness of high-rate Global Navigation Satellite System (GNSS) receiver data. In an experiment with controlled oscillations with a shaker and a Laser Triangulation Sensor (LTS) as a reference, the vibration amplitudes derived by GNSS measurements were analyzed, using time-frequency techniques like Short Time Fourier Transform (STFT) and Wavelet Transform (WT). We demonstrate that vibrations in the millimeter range can be derived from the measurements of satellites orbiting 20,000 km above Earth. However, the amplitudes of the determined frequencies show systematic errors up to 60% when compared to independent reference measurements. We introduce a correction method to reduce this error by applying a frequency-dependent correction function. Full article

Multi-view 3D reconstruction is essential for smart city, supporting applications such as smart city planning and autonomous navigation. While traditional reconstruction pipelines and recent neural implicit methods, such as NeRF, achieve high visual fidelity, they often struggle with geometric accuracy and sparse-view scenarios. To address this challenge, we present DiffLiGS, a novel multi-modal 3D reconstruction framework that integrates LiDAR point clouds and LiDAR-guided diffusion-based priors into the 3D Gaussian Splatting (3DGS) pipeline, enabling high-fidelity and geometrically accurate models. Our method first densifies sparse LiDAR depths using a diffusion model and refines them through multi-view geometric constraints, producing dense LiDAR depth maps that provide robust supervision for 3DGS optimization. Leveraging these dense depth maps, we guide a Stable Video Diffusion model to synthesize novel view images, which are incorporated into training to enhance reconstruction completeness and visual realism. By jointly fusing rich appearance cues from multi-view images with precise LiDAR-derived geometry and diffusion priors, DiffLiGS achieves unified, geometry-aware 3D scene representations. Our extensive experiments demonstrate that our approach significantly improves both geometric accuracy and rendering quality compared to existing 3D reconstruction methods, enabling real-time, high-precision modeling of complex urban environments. Full article

The increasing demand for global connectivity has accelerated the integration of non-terrestrial networks (NTNs), particularly low Earth orbit (LEO) satellite constellations, into next-generation position navigation and time (PNT) systems. While LEO-based PNT offers low-latency and high-accuracy potential, challenges such as high path loss and limited ground-level signal diversity remain. Reconfigurable intelligent surfaces (RISs) have emerged as a cost-effective solution to enhance localization performance by providing controllable reflections with minimal infrastructure. Building on prior work in single-RIS NTN scenarios, this paper investigates RIS-aided localization in a single-LEO PNT setting with multiple RISs. We introduce a detailed signal model and multi-stage processing framework that estimates both the satellite and RIS-assisted paths, enabling accurate receiver localization. Simulations assess the trade-offs in coverage and accuracy, providing insights into the feasibility and optimization of RIS-assisted NTN PNT solutions as a complementary alternative to global navigation satellite system (GNSS). Full article

Zenith Tropospheric Delay (ZTD) and its associated atmospheric water vapor information constitute essential environmental variables for Earth observation (EO)-based atmospheric monitoring and environmental variable retrieval. High-quality ZTD products are therefore of great importance for the post-processing, refinement, and reconstruction of atmospheric environmental variables at regional scales. Among existing observation techniques, Global Navigation Satellite System (GNSS) measurements provide high-precision ZTD estimates and have become an important means for retrieving tropospheric delay and water vapor. However, the sparse and uneven spatial distribution of GNSS stations limits their direct applicability for continuous environmental monitoring. Reanalysis-based products, such as ERA5 provided by the European Centre for Medium-Range Weather Forecasts (ECMWF), offer EO big data with excellent spatiotemporal continuity but suffer from pronounced systematic biases compared to precision GNSS retrievals, restricting their direct use in high-accuracy regional applications. To address these limitations, this study proposes a Residual Correction Kriging method for ZTD (RK ZTD) that integrates GNSS ZTD and ERA5 ZTD grids through a multi-source data fusion framework. High-precision GNSS ZTD is treated as reference data, and the differences between GNSS ZTD and ERA5 ZTD at modeling stations are defined as residuals to characterize the systematic bias in ERA5 ZTD grids. A Kriging interpolation algorithm is then employed to model the spatial distribution of these residuals and generate residual correction grids. By superimposing the interpolated residual grids onto the ERA5 ZTD grids, a refined and high-precision regional ZTD product is reconstructed. Experiments were conducted using observations collected in 2023 from 36 GNSS stations in the Netherlands, including 10 modeling stations and 26 independent validation stations, together with concurrent ERA5-derived ZTD grids. The results demonstrate that the proposed RK ZTD model provides spatially robust and high-precision ZTD products across the study region. The RK ZTD achieves a Root Mean Square Error (RMSE) of 5.70 mm, representing improvements of 58.4% and 35.4% compared with the original ERA5 ZTD (13.69 mm) and the GNSS-Kriging ZTD (8.82 mm), respectively. Moreover, the absolute bias is reduced to 0.41 mm, in contrast to 5.15 mm for the ERA5 ZTD, indicating that systematic biases are effectively mitigated. Spatial and seasonal analyses further confirm that the proposed method maintains stable performance across all seasons and significantly alleviates interpolation inaccuracies caused by sparse GNSS stations, even under extreme weather conditions such as Storm Ciarán, proving its value for advanced Earth environmental science applications. Full article

To address the challenge that prolonged interruptions of Global Navigation Satellite System (GNSS) signals—such as those caused by urban obstructions—hinder signal re-locking and thereby reduce the number of available satellites for integrity monitoring algorithms, this study proposes an inertial navigation-assisted GNSS re-locking method based on vehicle motion information constraints. This method leverages vehicle motion constraints to confine the primary direction of Inertial Navigation System (INS) velocity errors to the vehicle’s forward direction. Upon GNSS signal recovery, frequency error compensation is employed to mitigate Doppler errors of the previously obstructed satellites. Simulation results show that this method significantly improves the re-lock capability after a long period of satellite signal interruption, increasing the number of available satellites from 7 to 10 and optimizing the satellite geometry. At a horizontal alarm threshold of 80 m, the availability of the GNSS integrity monitoring algorithm reaches 95.7%, which is 53.7 percentage points higher than the unassisted scheme. Moreover, it can achieve 100% fault detection and identification rate even with a pseudorange deviation of 82 m, significantly improving the performance of the integrity monitoring algorithm. Full article

Cooperative localization is critical for UAV swarm operations in GNSS-denied environments. The backbone-listener scheme, using a small subset of agents as active backbone nodes and others as passive listeners, offers notable advantages in reducing communication overhead and enhancing swarm scalability. Building on this scheme, we propose a formation-constrained cooperative localization method to improve accuracy by integrating known formation geometry into the localization process. First, backbone node selection uses a formation-constrained greedy node activation (GNA) strategy with weighted distance fusion, combining measured and ideal formation distances to enable near-optimal selection aligned with formation structure. Second, listener node localization incorporates formation constraints into Chan’s algorithm, paired with angle-of-arrival (AOA) refinement, to ensure estimated positions match expected inter-agent distances. Third, global optimization uses a gradient descent-based refinement to enforce formation constraints across all agent positions. Our theoretical derivations and simulations are limited to the two-dimensional (2D) case. Simulation results validate the proposed method’s improved success rate, reliability, and stability. Its effectiveness is demonstrated across various formation types, with robust adaptability to asymmetric geometries shown to be a valuable feature for practical deployment. Full article

Mobile Laser Scanning (MLS) integrated with Simultaneous Localization and Mapping (SLAM) has emerged as a key technology for digitizing GNSS-denied environments, such as underground mines. However, the automated interpretation of unstructured, high-density point clouds into semantic engineering models remains challenging due to extreme geometric anisotropy in point distributions and severe class imbalance inherent to narrow tunnel environments. To address these issues, this study proposes a highly automated scan-to-model framework for precise semantic segmentation and vectorized two-dimensional (2D) profile reconstruction. First, an enhanced hierarchical deep learning network tailored for point clouds is introduced. The architecture incorporates a context-aware sampling strategy with an expanded receptive field of up to 10 m to preserve axial continuity, coupled with a spatial–geometric dual-attention mechanism to refine boundary delineation. In addition, a composite Focal–Dice loss function is employed to alleviate the dominance of wall points during network training. Experimental validation on a field-collected dataset comprising 16 mine tunnels demonstrates that the proposed model achieves a mean Intersection over Union (mIoU) of 85.15% (±0.29%) and an Overall Accuracy (OA) of 95.13% (±0.13%). Building on this semantic foundation, a robust geometric modeling pipeline is established using curvature-guided filtering and density-adaptive B-spline fitting. The reconstructed profiles accurately recover the geometric mean surface of the tunnel wall, yielding an overall filtered Root Mean Square Error (RMSE) of 4.96 ± 0.48 cm. The proposed framework provides an efficient end-to-end solution for deformation analysis and digital twinning of underground mining infrastructure. Full article

Global Positioning System (GPS)-derived ionospheric electron concentration measurements provide a powerful observational framework for seismo-electromagnetic studies, enabling quantitative investigation of lithosphere–atmosphere–ionosphere coupling processes through statistically detectable perturbations in ionospheric electron concentration. We analyze GPS-derived Vertical Total Electron Content (VTEC) variations associated with the 14 August 2021 Haiti earthquake ($M_w$ 7.2) and the 11 January 2022 Cyprus earthquake ($M_w$ 6.6) using data from nearby International GNSS (Global Navigation Satellite System) Service (IGS) stations located within their respective earthquake preparation zones. VTEC time series spanning 45 days before and 7 days after each event are processed to remove the diurnal component, yielding residuals that isolate short-term ionospheric variability. Anomaly detection is performed using three statistical frameworks: a Gaussian mean, standard deviation model, a robust median/median absolute deviation (MAD) model, and a distribution-free quantile-based model. Daily “occurrence” and “energy” indices are constructed to quantify the frequency and cumulative strength of detected anomalies, respectively. While the indices exhibit similar temporal patterns across all methods, they indicate frequent anomaly detection, limiting statistical selectivity. To address this, both indices are normalized by their median values and filtered using a 95% quantile threshold, retaining only extreme deviations. This procedure substantially reduces background fluctuations and isolates a small number of statistically significant anomaly peaks. For both earthquakes, enhanced anomaly activity is identified in the weeks preceding the events, whereas post-event peaks coincide with periods of elevated meteorological and geomagnetic activity. The results demonstrate that normalization combined with robust statistical methods is essential for discriminating significant ionospheric TEC anomalies from background variability. Full article

Precise track measurement of the geometric state of high-speed railways is a prerequisite for their smooth and safe operation. Current track inspection trolleys, which integrate only an inertial navigation system (INS) and a total station (TS), rely entirely on the track control network (CPIII) deployed along the track when calibrating their absolute location to avoid INS errors. Due to the high dependency on the surrounding CPIII points, this method faces severe challenges in terms of operational efficiency and cost control. To address this issue, this study utilizes the fast and precise positioning capability of the Chinese Beidou System (BDS) and proposes a novel adaptive location calibration approach using tightly integrated BDS/TS data. Using the Kalman filtering framework, this approach integrates BDS observations with the TS distance measurements in the observation domain, and the number of CPIII points to be observed is adaptively reduced according to the surrounding environments. Thus, the absolute location of track inspection trolleys can be quickly and accurately calibrated without INS data, greatly reducing dependency on CPIII points. Experiments were conducted under two typical scenarios: open-sky and blocked BDS signals. The results demonstrate that, under open-sky scenarios, the adopted BDS-only solution achieves positioning errors of less than 1.0 cm in the north, east, and up directions within 5 min, completely getting rid of the reliance on the control network, while in obstructed scenarios, where the BDS-only solution fails to converge at the 1 cm level within 5 min, the tightly integrated BDS/TS approach, combined with CPIII data, enables fast convergence in the northward and eastward, with positioning errors of less than 1 cm. The proposed approach provides a novel location calibration scheme in the track geometric states measurement under different environments, effectively reducing the dependence of track measurement operations on CPIII points and significantly enhancing measurement efficiency and flexibility. Full article

Aerial docking is a crucial capability for extending the autonomy and functionality of uncrewed aerial vehicles (UAVs), yet practical and robust docking mechanisms remain underdeveloped. Mid-air recovery also enables flexible multi-UAV cooperation across diverse mission scenarios. To address the core challenge of achieving reliable and precise airborne rendezvous, this paper proposes a control-driven approach supported by a complementary mechanical design. A Nonlinear Model Predictive Control (NMPC) framework is developed for the follower UAV, incorporating a velocity-penalty strategy to ensure the smooth and accurate tracking of the leader UAV based on GNSS guidance during the rendezvous phase. In the terminal docking stage, alignment accuracy is further enhanced through vision-based pose estimation using an ArUco marker array mounted on the leader UAV. Building on these algorithmic components, an improved active V-shaped docking mechanism is introduced to compensate for the follower UAV’s pitch angle during engagement, providing robustness against residual alignment errors. The feasibility and performance of the proposed system are validated through static ground docking experiments of the mechanical module and AirSim dynamic simulations evaluating the autonomous docking controller. Full article

Global Navigation Satellite System Interferometric Reflectometry (GNSS-IR) provides a low-cost, all-weather approach for continuous soil moisture content (SMC) retrieval. However, in single-constellation, multi-satellite applications, the optimal satellite number and the combined effects of multiple environmental factors on retrieval accuracy and stability remain insufficiently quantified. To address these issues, this study develops a dual-frequency GNSS-IR SMC retrieval framework that explicitly incorporates multiple environmental factors. Entropy-based fusion (EFM) is used to adaptively weight dual-frequency phase-delay observations, and a marginal-gain criterion is introduced to determine a suitable number of participating satellites. On this basis, univariate linear regression (ULR) and random forest (RF) models are established, and the Normalized Difference Vegetation Index (NDVI), temperature, and precipitation are incorporated into the RF model to improve retrieval robustness and quantify the relative contributions of environmental factors. The results show that multi-satellite combinations significantly improve SMC retrieval performance, while the incremental gain exhibits clearly diminishing returns and converges when the number of participating satellites reaches about 5–6 within a single constellation. Dual-frequency fusion consistently outperforms single-frequency schemes across different GNSS constellations, demonstrating the complementary value of multi-frequency information under multi-satellite conditions. In addition, the environmentally informed nonlinear model achieves higher accuracy and stability than the linear model, and the dominant environmental drivers differ across stations. Overall, this study provides quantitative support for configuring single-constellation multi-satellite GNSS-IR soil moisture monitoring schemes and for improving retrieval robustness under complex environmental conditions. Full article

Tightly coupled GNSS/INS is a widely adopted architecture for UAVs and ground vehicles. In this study, a Kalman-filter-based fusion framework integrates inertial data with satellite observables, including pseudorange and Doppler-derived range rate, to sustain precise navigation when GNSS quality degrades. A key bottleneck is that many pipelines rely on fixed or overly simplified measurement-noise covariance models, which cannot track the nonstationary statistics of real observations. To address this issue, we develop an adaptive covariance estimator built on a Transformer enhanced with three modules: a Linear-Attention layer, a Residual Sparse Denoising Autoencoder (R-SDAE), and a lightweight residual channel-attention block (LRCAM). The estimator predicts the measurement-noise covariance online. R-SDAE distills sparse, outlier-resistant features from noisy ephemeris; LRCAM reweights informative channels via residual gating; and Linear Attention preserves long-range spatiotemporal dependencies while reducing attention cost from O(N²) to O(N). A predictive factor further modulates the covariance for improved efficiency and adaptability. Experimental results on real road-test data show that the proposed method achieves sub-meter positioning accuracy in open-sky conditions and preserves meter-level accuracy with improved robustness under GNSS-degraded urban scenarios, outperforming the compared adaptive-filtering baselines and neural covariance estimators and thereby demonstrating superior positioning accuracy and stability. Full article