Targeted potential project (2023)

Huawei collaboration with Yongliang? still under disucssion

Abstract

Inspired by the strong perception capability of ADV using onboard sensors (such as 3D LiDAR), we continuously developed the perception-aided NLOS mitigation methods where the 3D LiDAR is employed to timely reconstruct the surrounding environments to identify the NLOS receptions. The idea was also reported in the industrial magazine in 2018. The work was further improved in 2020, where several drawbacks are relaxed and was awarded the Best Presentation Award in the session of Navigation in Urban Environments. Interestingly, this award is selected by the session chairs from Waymo (a company focused on the realization of L4 autonomous driving) and Swift Navigation (a company that focused on GNSS precise positioning solutions). Meanwhile, the idea is transferred into industrial applications for high-accuracy offline mapping applications. However, the accuracy from GNSS single point positioning is still limited due to the systematic errors, such as clock and atmospheric errors. Recently, we extended the LiDAR aided GNSS NLOS mitigation to the GNSS Real-time Kinematic (RTK), leading to sub-meter level accuracy. Unfortunately, the fixed rate of the RTK is still not guaranteed as:

Dr. Wen, W. and Liu Xikun.

Scholarship Plan

• (1st year) 09/2022-08/2023: H-ZGD2
• (2nd year) 09/2023-08/2024: Pending
• (3rd year) 09/2024-08/2025: Pending

Recent Research Plan: Liu Xikun (Huawei ZGD2)

• Half year research plan (by Dec 2022)
  • 3D LiDAR aided GNSS-RTK in urban canyons (IEEE T-ITS)
  • Coarse-to-fine mixed factor graph aided GNSS-RTK (ION GNSS+ 2022, Navigation)
• One year research plan (by Jun 2023)
  • 3D LiDAR aided PPP-RTK in urban canyons (Huawei Phase 3)
  • FGO for GNSS RTK with multiple frequency (Navigation, Journal of ION)
• 1.5 years research plan (by Dec 2023)- IEEE T-ITS
  • GNSS NLOS/Multipath detection and correction by map (GRF 2022-2023)
  • Modeling of multiple reflections from NLOS/Multipath

Student Supervision

• Supervise Edward? (undergraduate student)

News

• [02/06/2023]
  • Paper submission to T-IV on 3DLA GNSS-RTK
  • Open source the GLIO to the T-IV
  • Batch 3DLA GNSS-RTK, on JION
  • FGO GNSS-RTK
    • Result is normal
  • ION GNSS+ 2023
    • LiDAR aided Doppler correction
    • LiDAR aided GNSS NLOS correction, mehcanical of the covariance analysis
• [01/02/2023]
  • Xikun will directly work on the batch 3DLA GNSS-RTK journal version
  • the GNSS FGO would be continuously worked by future students supervised by Xikun
• [12/13/2022]
  • Assign a student to Xikun,
  • Discussion on the GNSS collaborative positioning
  • GPS L2
  • add GLAEO
  • seperate factors of different frequencies, L1/L2 combinations
  • DD pseudorange for the LiDAR/inertial integration
• [11/30/2022]
  • Can we do collaborative mapping and the relative constraint from the GNSS DD can be used as the relative constraints. the DD measurements is super accurate. Maybe Yunjuan can work with Xikun on this topic.
• [11/30/2022]
  • Xikun’s 3DLA paper is almost ready and will be sunmited to IEEE T-ITS soon. We would also submit the paper to arxiv.
  • Xikun is also working on the GNSS-RTK FGO with multiple frequencies. Will try different combinations of the different frequencies of GNSS raw data.
• Discussion on 25th, Nov 2022
  • Improving the figrues for the 3D LiDAR aided GNSS-RTK
  • Work on the GNSS FGO with multiple frequency