Xiaomi（小米）

Route-Constrained Robust Fusion Estimation for MEMS/GNSS Integrated Navigation of Unmanned Ground Vehicles in GNSS Degraded Environments

MEMS/GNSS组合导航中无人地面车辆在GNSS退化环境下的路径约束鲁棒融合估计

Jingzhi Cui, Chao Zhang, Yuliang Mao, Shaolin Lü, Dongmei Li, Huan Che, Rong Zhang

机构 * State Key Laboratory of Precision Space-time Information Sensing Technology, Tsinghua University（清华大学精密时空信息感知技术国家重点实验室） ； Xiaomi Inc.（小米公司） 纠错

AI总结 针对GNSS信号严重遮挡下结构化道路环境中无人地面车辆的累积定位漂移，提出一种鲁棒的路径约束状态估计方法，利用历史航位推算轨迹与高精地图匹配生成伪位置观测，通过扩展卡尔曼滤波持续注入道路级约束，抑制位置偏差并改善方位估计。

Comments Accepted workshop paper, 1st Workshop on Robot Meets GNSS and Ranging for Seamless Autonomy, IEEE ICRA 2026

Journal ref 1st Workshop on Robot Meets GNSS and Ranging for Seamless Autonomy, IEEE ICRA 2026, Vienna, Austria, June 5, 2026