Publications

Multiple Faults Isolation For Multi-Constellation GNSS Positioning through Incremental Expansion of Consistent Measurements

Published in IEEE Sensors Journal, 2024

An expanding approach to detect and isolate multiple faulty measurements in pseudorange-based positioning systems

Recommended citation: Yan, P., Hu, Y., Wen, W., & Hsu, L. T. (2025). "Multiple Faults Isolation For Multi-Constellation GNSS Positioning through Incremental Expansion of Consistent Measurements". IEEE Sensors Journal, 25(4), https://doi.org/10.1109/JSEN.2024.3524434
Download Paper | Download Slides

Fault Detection Algorithm for Gaussian Mixture Noises:An Application in LiDAR/IMU Integrated Localization System

Published in NAVIGATION: Journal of the Institute of Navigation, 2024

Recommended citation: Yan, P., Li, Z., Huang, F., Wen, W., & Hsu, L. T. (2024). "Fault Detection Algorithm for Gaussian Mixture Noises: An Application in LiDAR/IMU Integrated Localization Systems". NAVIGATION: Journal of the Institute of Navigation, 72(1), https://doi.org/10.33012/navi.684
Download Paper | Download Slides

Principal Gaussian Overbound for Heavy-tailed Error Bounding

Published in IEEE Transactions on Aerospace and Electronic Systems, 2024

A conservative yet sharp non-Gaussian overbound for heavy-tailed error distributions

Recommended citation: Yan, P., Zhong, Y., & Hsu, L. T. (2024). "Principal Gaussian Overbound for Heavy-tailed Error Bounding". IEEE Transactions on Aerospace and Electronic Systems, 61(1), 829-852, http://dx.doi.org/10.1109/TAES.2024.3448405
Download Paper | Download Slides

Subspace-based Adaptive GMM Error Modeling for Fault-Aware Vehicular GNSS Positioning in Urban Canyons

Published in IEEE Transactions on Intelligent Vehicles, 2024

Simultaneous adaptive error modeling and fault detection and exclusion

Recommended citation: Yan, P., Xia, X., Brizzi, M., Wen, W., & Hsu, L. T. (2024). "Subspace-based Adaptive GMM Error Modeling for Fault-Aware Pseudorange-based Positioning in Urban Canyons". IEEE Transactions on Intelligent Vehicles, http://dx.doi.org/10.1109/TIV.2024.3450198
Download Paper | Download Slides

Integration of Vehicle Dynamic Model and System Identification Model for Extending the Navigation Service Under Sensor Failures

Published in IEEE Transactions on Intelligent Vehicles, 2023

Integration of system identification and vehicle dynamic models

Recommended citation: Yan, P., Wen, W., & Hsu, L. T. (2023). "Integration of Vehicle Dynamic Model and System Identification Model for Extending the Navigation Service Under Sensor Failures". IEEE Transactions on Intelligent Vehicles, 9(1), 2236-2248, https://doi.org/10.1109/TIV.2023.3273185
Download Paper | Download Slides

Jackknife test for faulty GNSS measurements detection under non-Gaussian noises

Published in ION GNSS+ 2024, 2024

Theoretic-guanrateed non-Gaussian detector

Recommended citation: Yan, P. (2024). "Jackknife test for faulty GNSS measurements detection under non-Gaussian noises". In ION GNSS+ 2024.
Download Paper | Download Slides

Bounding the Heavy-tailed DGNSS Error by Leveraging Membership Weights Analysis of Gaussian Mixture Model

Published in Pacific PNT 2024, 2024

Non-Gaussian overbound for heavy-tailed DGNSS error

Recommended citation: Yan, P., Zhong, Y., & Hsu, L. T. (2024, April). "Bounding the Heavy-Tailed Pseudorange Error by Leveraging Membership Weights Analysis of Gaussian Mixture Model". In Proceedings of the ION 2024 Pacific PNT Meeting (pp. 541-555).
Download Paper | Download Slides

A Fault Detection Algorithm for LiDAR/IMU Integrated Localization Systems with Non-Gaussian Noises

Published in International Technical Meeting 2024, 2024

Detecting faulty measurements in EKF-based LiDAR/IMU integrated localization systems under non-Gaussian nominal error

Recommended citation: Yan, P., Wen, W., Huang, F., & Hsu, L. T. (2024). "A Fault Detection Algorithm for LiDAR/IMU Integrated Localization Systems with Non-Gaussian Noises". In Proceedings of the 2024 International Technical Meeting of The Institute of Navigation (pp. 561-574).
Download Paper | Download Slides

Extending Navigation Service under Sensor Failures: An Approach by Integrating System Identification and Vehicle Dynamic Model

Published in 2023 IEEE/ION Position, Location and Navigation Symposium (PLANS), 2023

Introduce the online system identification

Recommended citation: Yan, P., Hsu, L. T., & Wen, W. (2023). "Extending Navigation Service under Sensor Failures: An Approach by Integrating System Identification and Vehicle Dynamic Model". In 2023 IEEE/ION Position, Location and Navigation Symposium (PLANS) (pp. 630-636). IEEE.
Download Paper | Download Slides

Integration of Vehicle Dynamic Model and System Identified Model for Navigation in Autonomous Mobile Robots

Published in International Technical Meeting 2023, 2023

Sensor-free localization udner extreme conditions

Recommended citation: Yan, P., Hsu, L. T., & Wen, W. (2023, January). "Integration of Vehicle Dynamic Model and System Identified Model for Navigation in Autonomous Mobile Robots". In Proceedings of the 2023 International Technical Meeting of The Institute of Navigation (pp. 153-160).
Download Paper | Download Slides