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One of the difficulties faced by high-sensitivity GNSS receivers is the so-called near-far problem, where the acquisition of weak signals is hampered by the presence of more powerful signals. If countermeasures are not implemented, the presence of near-far may result in loss or false acquisition of weak signals, and consequently the user's position may exhibit a huge error. In this sense, subspace...
This paper presents a systematic study of the scan skewing problem. Scan skewing is the non-rigid deformation of point clouds acquired by LiDAR's and is the result of their sequential scanning nature. We theoretically analyze the impact of skewing on scan matching and subsequently quantify the impact using synthetic LiDAR data with controlled skew distortions. We also show how the Geometric-Algebra...
The Zero-velocity Update (ZUPT)-aided Extended Kalman Filter(EKF) algorithm is commonly used to suppress the error growth of the inertial based pedestrian navigation systems, but it still suffers from long-term heading drift. The magnetic field was suggested to mitigate the heading errors of for positioning and navigation, but it undergoes severe perturbation in indoor scenarios. The Quasi-Static...
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