Weisong Wen (Welson)

icon indicating a website link https://weisongwen.github.io/ icon indicating an email [email protected]

icon company Hong Kong Polytechnic University/University of California, Berkeley icon location Hung Hom, Kwolon, Hong Kong/CA, USA icon location Assistant Professor at The Hong Kong Polytechnic University. GNSS, NLOS/Multipath Mitigation, LiDAR SLAM, Navigation, Robotics.

Results 163 issues of Weisong Wen (Welson)

GNSS/RNSS Integrated PPP Time Transfer: Performance with Almost Fully Deployed Multiple Constellations and a Priori ISB Constraints Considering Satellite Clock Datums

Currently, the space segment of all the five satellite systems capable of providing precise time transfer services, namely BDS (including BDS-3 and BDS-2), GPS, GLONASS, Galileo, and Quasi-Zenith Satellite System...

GVIM: GNSS/Visual/IMU/Map Integration Via Sliding Window Factor Graph Optimization in Urban Canyons

Autonomous systems demand high accuracy of positioning. The visual-inertial navigation system (VINS) can provide accurate positioning in a short period but suffer from drift over time. Besides, outlier features caused...

Multi-Phase Fusion for Pedestrian Localization Using Mass-Market GNSS and MEMS Sensors

Precise pedestrian positioning based on smartphone-grade sensors has been a research hotspot for several years. Due to the poor performance of the mass-market Micro-Electro-Mechanical Systems (MEMS) Magnetic, Angular Rate, and...

Integrity monitoring scheme for single-epoch GNSS PPP-RTK positioning

Integrity monitoring for precise point positioning is critical for safety-related applications. With the increasing demands of high-accuracy autonomous navigation for unmanned ground and aerial vehicles, the integrity monitoring method of...

From RTK to PPP-RTK: towards real-time kinematic precise point positioning to support autonomous driving of inland waterway vessels

PPP-RTK is Precise Point Positioning (PPP) using corrections from a ground reference network, which enables single-receiver users with integer ambiguity resolution thereby improving its performance. However, most of the PPP-RTK...

Time-Correlated Window-Carrier-Phase-Aided GNSS Positioning Using Factor Graph Optimization for Urban Positioning

https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9707661

an error encounter in "bias = data[:,sv_of_interest,'L1','data']*(3.0E8/f1)-data[:,sv_of_interest,'C1','data']"

17 comment

Hi, @gregstarr Thanks for your great work on this package, I encounder an error when I run as the tutorial [here](https://github.com/gregstarr/PyGPS/blob/master/Examples/ReadRinex%20Demo.ipynb) (https://github.com/gregstarr/PyGPS/blob/master/Examples/ReadRinex%20Demo.ipynb). The error can be seen as following: **_Traceback...

problem about localization in an octomap using hmanoid_localization with 3D lidar pointcloud2,IMU,Odometry datas

4 comment

Firstly, thanks for your excellent work on octomap and humanoid_navigation. **These days I am working on the humanoid_localization package, could you pls provide bags file containing the topics and tf...

Visualize optimization process with an state size larger than 3

@lilipads Thanks for sharing the interesting work. I am a researcher from the Robotics field with a special focus on state estimation. Do you have any idea that how can...

How to modify (from code) the information matrix (covariance matrix) of Visual Measurement Residual

3 comment

Hi @shaojie @shaozu , thanks for sharing the great work. Thanks a lot. I am reading your work and testing your code using the real data collected from the road....