Paul D. Groves
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View article: Terrain-Based Parameter Optimization for Zero Velocity Update Inertial Navigation Solutions
Terrain-Based Parameter Optimization for Zero Velocity Update Inertial Navigation Solutions Open
This paper demonstrates the benefits of adapting Zero Velocity Update (ZVU) algorithms in foot-mounted pedestrian inertial navigation by finely tuning the algorithm to account for the type of terrain over which the pedestrian travels. Conv…
View article: Grid-based 3DMA GNSS with clustering and Doppler velocity using factor graph optimisation
Grid-based 3DMA GNSS with clustering and Doppler velocity using factor graph optimisation Open
Three-dimensional mapping-aided (3DMA) Global Navigation Satellite System (GNSS) positioning improves the positioning in urban canyons for non-precision GNSS receivers. However, the 3DMA GNSS algorithms often produce a multimodal position …
View article: WiFi-RTT Indoor Positioning Using Particle, Genetic and Grid Filters with RSSI-Based Outlier Detection
WiFi-RTT Indoor Positioning Using Particle, Genetic and Grid Filters with RSSI-Based Outlier Detection Open
WiFi has vast infrastructure presence making it an ideal candidate for mobile indoor positioning. WiFi Fine Time
\nMeasurement (FTM), is a WiFi protocol that enables the time of flight (ToF) of a WiFi signal to be determined; referred to a…
View article: Outlier Detection for 3D-Mapping-Aided GNSS Positioning
Outlier Detection for 3D-Mapping-Aided GNSS Positioning Open
This paper takes 3D-mapping-aided (3DMA) GNSS as an example and investigates the outlier detection for pattern matching based positioning. Three different test statistics, two in the measurement domain and one in the position domain, are p…
View article: Multi-Epoch 3D-Mapping-Aided Positioning using Bayesian Filtering Techniques
Multi-Epoch 3D-Mapping-Aided Positioning using Bayesian Filtering Techniques Open
The performance of different filtering algorithms combined with 3D-mapping-aided (3DMA) techniques is investigated in this paper. Several single- and multi-epoch filtering algorithms were implemented and then tested on static pedestrian na…
View article: Robust Positioning in the Presence of Multipath and NLOS GNSS Signals
Robust Positioning in the Presence of Multipath and NLOS GNSS Signals Open
GNSS signals can be blocked and reflected by nearby objects, such as buildings, walls, and vehicles. They can also be reflected by the ground and by water. These effects are the dominant source of GNSS positioning errors in dense urban env…
View article: Combining Inertially-aided Extended Coherent Integration (Supercorrelation) with 3D-Mapping-Aided GNSS
Combining Inertially-aided Extended Coherent Integration (Supercorrelation) with 3D-Mapping-Aided GNSS Open
Conventional GNSS positioning in dense urban areas exhibits errors of tens of meters due to non-line-of-sight (NLOS) reception and multipath interference. Inertially-aided extended coherent integration within the GNSS receiver, as in the c…
View article: Resilient Peer-to-Peer Ranging using Narrowband High-Performance Software-Defined Radios
Resilient Peer-to-Peer Ranging using Narrowband High-Performance Software-Defined Radios Open
In emergency and military scenarios, standard positioning and communications infrastructure cannot be relied upon. Ad-hoc mobile networks offer a decentralized alternative, so this paper addresses the challenge of incorporating a ranging c…
View article: Context Detection for Advanced Self-Aware Navigation using Smartphone Sensors
Context Detection for Advanced Self-Aware Navigation using Smartphone Sensors Open
Navigation and positioning systems dependent on both the operating environment and the behaviour of
\nthe host vehicle or user. The environment determines the type and quality of radio signals available for
\npositioning and the behaviour …
View article: Context Detection for Advanced Self-Aware Navigation using Smartphone Sensors
Context Detection for Advanced Self-Aware Navigation using Smartphone Sensors Open
Navigation and positioning systems dependent on both the operating environment and the behaviour of the host vehicle or user. The environment determines the type and quality of radio signals available for positioning and the behaviour can …
View article: Improving environment detection by behavior association for context‐adaptive navigation
Improving environment detection by behavior association for context‐adaptive navigation Open
Navigation and positioning systems depend on both the operating environment and the behavior of the host vehicle or user. The environment determines the type and quality of radio signals available for positioning, and the behavior can cont…
View article: Performance assessment of 3D‐mapping–aided GNSS part 1: Algorithms, user equipment, and review
Performance assessment of 3D‐mapping–aided GNSS part 1: Algorithms, user equipment, and review Open
A full performance assessment of 3D-mapping–aided (3DMA) GNSS in dense urban areas is presented. This first part of a two-part paper focuses on the effects of algorithm design and user equipment, based on data collected in London using Lei…
View article: Performance assessment of <scp>3D</scp> ‐mapping‐aided <scp>GNSS</scp> part 2: Environment and mapping
Performance assessment of <span>3D</span> ‐mapping‐aided <span>GNSS</span> part 2: Environment and mapping Open
A full performance assessment of 3D-mapping-aided (3DMA) Global Navigation Satellite System (GNSS) in dense urban areas is presented. This second part of a two-part paper focusses on the effects of the surrounding environment and 3D-mappin…
View article: Probabilistic Context-Aware Step Length Estimation for Pedestrian Dead Reckoning
Probabilistic Context-Aware Step Length Estimation for Pedestrian Dead Reckoning Open
This paper introduces a weighted context-based step length estimation algorithm for pedestrian dead reckoning. Six pedestrian contexts are considered: stationary, walking, walking sideways, climbing and descending stairs, and running. Inst…
View article: Intelligent Urban Positioning: Integration of Shadow Matching with 3D-Mapping-Aided GNSS Ranging
Intelligent Urban Positioning: Integration of Shadow Matching with 3D-Mapping-Aided GNSS Ranging Open
In dense urban areas, conventional Global Navigation Satellite Systems (GNSS) positioning can exhibit errors of tens of metres due to the obstruction and reflection of the signals by the surrounding buildings. By using Three-Dimensional (3…
View article: RETRACTED ARTICLE: Likelihood-based GNSS positioning using LOS/NLOS predictions from 3D mapping and pseudoranges
RETRACTED ARTICLE: Likelihood-based GNSS positioning using LOS/NLOS predictions from 3D mapping and pseudoranges Open
The accuracy of conventional global navigation satellite systems (GNSS) positioning in dense urban areas is severely degraded due to blockage and reflection of the signals by the surrounding buildings. By using 3D mapping of the buildings …
View article: Context Determination for Adaptive Navigation using Multiple Sensors on a Smartphone
Context Determination for Adaptive Navigation using Multiple Sensors on a Smartphone Open
Navigation and positioning is inherently dependent on the context, which comprises both the operating environment and the behaviour of the host vehicle or user. No single technique is capable of providing reliable and accurate positioning …
View article: Assured PNT Through Multiple Diverse Technologies
Assured PNT Through Multiple Diverse Technologies Open
This panel presentation considers how ubiquitous high integrity PNT might be achieved through multiple diverse technologies, considering failure modes, context, verification and standardization.
View article: THE IMPACT OF 3D DATA QUALITY ON IMPROVING GNSS PERFORMANCE USINGCITY MODELS INITIAL SIMULATIONS
THE IMPACT OF 3D DATA QUALITY ON IMPROVING GNSS PERFORMANCE USINGCITY MODELS INITIAL SIMULATIONS Open
There is an increasing demand for highly accurate positioning information in urban areas, to support applications such as people and vehicle tracking, real-time air quality detection and navigation. However systems such as GPS typically pe…
View article: The Limits of In-Run Calibration of MEMS Inertial Sensors and Sensor Arrays
The Limits of In-Run Calibration of MEMS Inertial Sensors and Sensor Arrays Open
MEMS accelerometers and gyroscope triads now cost less than $10, potentially opening up many new applications. However, these sensors require calibration prior to navigation use. This paper determines the maximum tolerable sensor errors fo…
View article: NAV volume 68 issue 3 Cover and Back matter
NAV volume 68 issue 3 Cover and Back matter Open
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