Towards Robust GNSS Positioning and Real-time Kinematic Using Factor Graph Optimization
Weisong Wen Li-Ta Hsu Weisong Wen Li-Ta Hsu
Global navigation satellite systems (GNSS) are one of the utterly popular sources for providing globally referenced positioning for autonomous systems. However, the performance of the GNSS positioning is significantly challenged in urban canyons, due to the signal reflection and blockage from buildings. Given the fact that the GNSS measurements are highly environmentally dependent and time-correla...