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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2605.24980 |
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| _version_ | 1866910252464603136 |
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| author | Chen, Chih-Chun Tan, Lipeng Bai, Shiyu Vallery, Heike |
| author_facet | Chen, Chih-Chun Tan, Lipeng Bai, Shiyu Vallery, Heike |
| contents | In Global Navigation Satellite System (GNSS)-degraded environments, pseudolites (PLs) provide additional signal sources to enhance positioning performance, but their integration in optimization-based frameworks remains limited. This paper presents a loosely coupled factor graph optimization (FGO) framework that fuses the GNSS/PL least-squares (LS) solutions with inertial measurement unit (IMU) data. The evaluation considers low GNSS visibility scenarios with four high-elevation GNSS satellites and up to two PL transmitters over an 80~s window. FGO achieves a 22.8\% to 41.3\% reduction in mean 3D error compared to standard LS methods. Compared to a GNSS-IMU baseline, incorporating PL transmitters further improves positioning accuracy, with performance depending on geometry. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_24980 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Loosely Coupled Factor Graph Optimization for Pseudolite-Augmented Navigation Chen, Chih-Chun Tan, Lipeng Bai, Shiyu Vallery, Heike Robotics In Global Navigation Satellite System (GNSS)-degraded environments, pseudolites (PLs) provide additional signal sources to enhance positioning performance, but their integration in optimization-based frameworks remains limited. This paper presents a loosely coupled factor graph optimization (FGO) framework that fuses the GNSS/PL least-squares (LS) solutions with inertial measurement unit (IMU) data. The evaluation considers low GNSS visibility scenarios with four high-elevation GNSS satellites and up to two PL transmitters over an 80~s window. FGO achieves a 22.8\% to 41.3\% reduction in mean 3D error compared to standard LS methods. Compared to a GNSS-IMU baseline, incorporating PL transmitters further improves positioning accuracy, with performance depending on geometry. |
| title | Loosely Coupled Factor Graph Optimization for Pseudolite-Augmented Navigation |
| topic | Robotics |
| url | https://arxiv.org/abs/2605.24980 |