Logistic-aided Huber M-estimator for robust GNSS positioning
Published in ArXiv, 2026
Score-matched mapping from logistic quasi-log-cosh to Huber yields closed-form tuning σᵢ = √2 sᵢ, cᵢ = √2; validated in simulation and urban GNSS data 
Publications
You can also find my articles on my Google Scholar profile.
Journal Articles
Improved GNSS Positioning in Urban Environments Using a Logistic Error Model
Published in ArXiv, 2026
Logistic pseudorange errors and the Least Quasi-Log-Cosh (LQLC) M-estimator with IRLS for urban GNSS, validated in light, medium, and deep urban Hong Kong data 
Credible Uncertainty Quantification under Noise and System Model Mismatch
Published in IEEE Transactions on Instrumentation and Measurement, 2026
Unified NCI, NLL, and ES framework with empirical location test (ELT) and directional probing to diagnose noise vs. system model mismatch 
Jackknife ARAIM: Efficient GNSS Integrity Monitoring for Simultaneous Faults under Non-Gaussian Errors
Published in Aerospace Systems, 2026
Efficient GNSS Integrity Monitoring for Simultaneous Faults under Non-Gaussian Errors 
Cauchy-Gaussian Overbound for Heavy-tailed GNSS Measurement Errors
Published in NAVIGATION: Journal of the Institute of Navigation, 2026
Leveraging the bounding sharpness of the Cauchy distribution in the core and the Gaussian distribution in the tails to tightly bound heavy-tailed GNSS measurement errors 
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 
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
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 
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 
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 
Conference Papers
Jackknife test for faulty GNSS measurements detection under non-Gaussian noises
Published in ION GNSS+ 2024, 2024
Theoretically-guaranteed non-Gaussian detector 
DOI | Download Paper | 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 
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 
DOI | Download Paper | 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 
DOI | Download Paper | 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 under extreme conditions
DOI | Download Paper | Slides