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TUESDAY, 2nd JUNE
10:00 Conference Opening
Prof. Jari Nurmi (Tampere University)
10:20 Technical Session Hybrid Positioning
Chair: Joaquín Torres-Sospedra, Universitat Jaume I
10:20
Tight Integration of GNSS and WSN Ranging based on Spatial Map Data Enhancing Localization in Urban Environments
Paul Schwarzbach, Albrecht Michler, Oliver Michler, TU Dresden, Germany
10:40
A study on robust navigation by means of GNSS, network LTE and INS integration
Davide Imparato1, Jean-Jacques Floch1, Elena Simona Lohan2, Martin Ruzicka3, Petr Casek4, Marketa Palenska4
1Airbus Defense and Space, Germany
2Tampere University, Finland
3Evektor, Czech Republic
4Honeywell, Czech Republic
11:00 Keynote GNSS-based 3D modelling of cities
Dr. Anahid Basiri
University College London
12:00 Break
12:20 Technical Session GNSS Receivers
Chair: Ville Eerola, u-blox Espoo Oy
12:20 – Best Paper Award Candidate
Solving Multi-GNSS Signal Biases from Undifferenced Observations
Niilo Sirola, Jussi Parviainen, Olli Särkkä, Juha Roström
Exafore Oy, Finland
12:40
Architecture, design and implementation of carrier phase vector tracking in GNSS RTK receiver
Nikolay Mikhaylov1, Valery Chistyakov2, David Oertel1
1Robert Bosch GmbH, Germany
2BORA Ltd., Russia
13:00
Performance and Complexity Comparison of Adaptive Loop-Bandwidth Tracking Techniques
Iñigo Cortés, Jon Ander Iñiguez de Gordoa, Johannes Rossouw van der Merwe, Alexander Rügamer, Wolfgang Felber
Fraunhofer IIS, Germany
13:20
Position Solution Sensitivity for Snapshot Receivers
Johannes Rossouw van der Merwe, Xabier Zubizarreta, Daniel Rubino, Alexander Rügamer, Wolfgang Felber
Fraunhofer IIS, Germany
13:40 Lunch break
14:20 Technical Session 5G Positioning
Chair: Gonzalo Seco-Granados, Universitat Autonoma de Barcelona
14:20 – Best Paper Award Candidate
Positioning Based on Noise-Limited Censored Path Loss Data
Aki Karttunen, Mikko Valkama, Jukka Talvitie
Tampere University, Finland
14:40
Radio-based Sensing and Indoor Mapping with Millimeter-Wave 5G NR Signals
Carlos Baquero Barneto, Taneli Riihonen, Matias Turunen, Mike Koivisto, Jukka Talvitie, Mikko Valkama
Tampere University, Finland
15:00
Deep Learning Based Localization and Handover Optimization in 5G NR Networks
Roman Klus, Lucie Klus, Dmitrii Solomnickii, Mikko Valkama, Jukka Talvitie
Tampere University, Finland
15:20
A Primer on Real-world RSS-based Outdoor NB-IoT Localization
Thomas Janssen, Maarten Weyn, Rafael Berkvens
Universiteit Antwerpen – imec, Belgium
15:40 Break
16:00 Technical Session Spoofing and Interference
Chair: Fabio Dovis, Politecnico di Torino
16:00 – Best Paper Award Candidate
Sub-Messages Scheduling In GNSS Packet Broadcasting By Message Splitting
Francesco Ardizzon, Nicola Laurenti, Stefano Tomasin
University of Padova, Italy, Italy
16:20
Simultaneous Jamming and Navigation Pseudolite System
Johannes Rossouw van der Merwe, Alexander Rügamer, Wolfgang Felber
Fraunhofer IIS, Germany
16:40
Hardware Implementation and Evaluation of the HDDM
Fabio Garzia, J. Rossouw Van der Merwe, Alexander Rügamer, Wolfgang Felber
Fraunhofer IIS, Germany
17:00
Analog Mitigation of Frequency-Modulated Interference for Improved GNSS Reception
Karel Pärlin1, Taneli Riihonen2
1Rantelon, Estonia
2Tampere University, Finland
17:20
Optimal compromise among security, availability and resources in the design of sequences for GNSS spreading code authentication
Nicola Laurenti, Anna Poltronieri
University of Padova, Italy
17:40 End of Technical Session
WEDNESDAY, 3rd JUNE
10:00 Special session GNSS in Smartphones
10:00
Analyzing Android GNSS Raw Measurements Flags Detection Mechanisms for Collaborative Positioning in Urban Environment
Thomas Verheyde1,2, Antoine Blais2, Christophe Macabiau2, François-Xavier Marmet3
1Telecommunication for Space & Aeronautics (TéSA)
2École Nationale de l’Aviation Civile (ENAC);
3Centre National d’Études Spatiales (CNES)
10:20
Assessment of the Vulnerability to Spoofing Attacks of GNSS Receivers Integrated in Consumer Devices
Akmal Rustamov1,2, Alex Minetto1, Neil Gogoi1, Fabio Dovis1
1Politecnico di Torino
2Turin Polytechnic University in Tashkent
10:40
Precise Point Positioning with single and dual-frequency multi-GNSS Android smartphones
Umberto Robustelli1, Valerio Baiocchi2, Laura Marconi3, Fabio Radicioni3, Giovanni Pugliano1
1Department of Engineering, Parthenope University of Naples, Naples Italy
2Department of Civil Constructional and Environmental Engineering DICEA Sapienza University of Rome, Rome, Italy
3Department of Engineering, University of Perugia, Perugia Italy
11:00 Keynote
Chair: Joaquín Torres-Sospedra, Universitat Jaume I
Concurrent Transmissions: A New Paradigm for Ultra-wideband Ranging and Localization
Prof. Gian Pietro Picco
University of Trento
12:00 Break
12:20 Technical Session Indoor Positioning
Chair: Heidi Kuusniemi, University of Vaasa
12:20
NLOS Detection using UWB Channel Impulse Responses and Convolutional Neural Networks
Maximilian Stahlke1, Sebastian Kram2, Christopher Mutschler2, Thomas Mahr1
1Nuremberg Institute of Technology Georg Simon Ohm
2Precise Localization and Analytics Department Fraunhofer Institute for Integrated Circuits IIS
12:40
Floor Plan-free Particle Filter for Indoor Positioning of Industrial Vehicles
Ivo Silva, Adriano Moreira, Maria João Nicolau, Cristiano Pendão
Algoritmi Research Center, University of Minho, Portugal
13:00
Versatile, low-cost indoor positioning combining Bluetooth and Ultra Wideband technologies
María D. Miñambres1, Victor Rojo2, Antonio Román2, Pablo Renero3, Diego R. Llanos3
1Servicio Prevención de Riesgos Laborales, University of Valladolid, Spain
2RDNest SL, Spain
3Departamento de Informática, University of Valladolid, Spain
13:20
Sensor Fusion and Well Condition Triangle Approach for BLE-based Indoor Positioning
Amrit Karmacharya1, German M. Mendoza Silva1, Joaquín Torres-Sospedra2
1Universitat Jaume I, Spain
2UBIK Geospatial Solutions, S.L, Spain
13:40 Lunch Break
14:20 Technical Session Modelling and Estimation
Chair: Simona Lohan, TAU
14:20
Modeling and Mitigating 5G Wireless Downlink Interferences for Low-altitude Aerial vehicles
Wenbo Wang1, Thilo Fath2, Mikko Valkama1, Elena-Simona Lohan1
1Tampere University, Finland
2Airbus, Germany
14:40
Multipath Delay Estimation Using Signal Power Measurements from Multiple Carrier Frequencies
Simon Ollander1,2, Friedrich-Wilhelm Bode2, Marcus Baum1
1University of Goettingen, Germany
2Robert Bosch Car Multimedia GmbH, Germany
15:00
On the performance of selected ionospheric modelling schemes in Precise Point Positioning
Jacek Paziewski, Rafal Sieradzki
University of Warmia and Mazury in Olsztyn, Poland
15:20
Support Vector Regression Machine Learning Tool to Predict GNSS Clock Corrections in Real-Time PPP Technique
Mutaz Wajeh Abdlamajud Qafisheh1,2, Angel Martín Furones1, Joaquín Torres-Sospedra2
1Departamento de Ingeniería Cartográfica, Geodesia y Fotogrametría, Universitat Politècni-ca de València. València, Spain
2Institute of New Imaging Technologies, Universitat Jaume I, Castellón, Spain
15:40 Break
16:00 Technical Session Vehicle Applications
Chair: Octavian Andrei, National Land Survey of Finland
16:00
GNSS-based Techniques for Accurate Height Component Estimation of Vessels in Finnish Waterways – A review
Afroza Khatun, Sarang Thombre, M. Zahidul H. Bhuiyan, Mirjam Bilker-Koivula, Hannu Koivula
Finnish Geospatial Research Institute (FGI), NLS, Finland
16:20
GNSS Positioning Aspects for the Intelligent Shipping Test Laboratory at Rauma Harbor
Simo Marila, Octavian Andrei, Hannu Koivula, Pasi Häkli, Mirjam Bilker-Koivula
National Land Survey of Finland, Finland
16:40
Comparative Study on GNSS Positioning Systems for Autonomous Vessels in the Arctic Region
Anastasia Yastrebova1, Marko Höyhtyä2, Sandrine Boumard1, Aleksandr Ometov3
1Autonomous Connectivity Systems Research Group, VTT Technical Research Centre of Finland Ltd, Oulu, Finland
2Space Technology Research, VTT Technical Research Centre of Finland Ltd, Oulu, Finland
3Faculty of Information Technology and Communication Sciences, Tampere University, Tampere, Finland
17:00
Challenges in Characterization of GNSS Precise Positioning Systems for Automotive
Cristiano Pendão1, André Ferreira1, Adriano Moreira1, César Martins3, Hélder Silva2
1Algoritmi Research Center, University of Minho – Portugal
2Center for MicroElectromechanical Systems, University of Minho – Portugal
3Bosch Car Multimedia Portugal, S.A., Braga – Portugal
17:20
Hybridized GNSS and IMU Positioning for Train Infrastructure Asset Health Status Monitoring within the SIA-Project
Ramin Moradi, Michael Hutchinson
Nottingham Scientific Limited, United Kingdom
17:40 End of Technical Session
THURSDAY, 4th JUNE
10:00 Special Session Collaborative Positioning
Chair: Alex Minetto, Politecnico di Torino
10:00
RFI Localization in a Collaborative Navigation Environment
Naveed Ahmed, Nadezda Sokolova
Norwegian University of Science and Technology, Trondheim, Norway
10:20
Autocalibration of a UWB Localization System for Dynamic and Ad-Hoc Deployments in GNSS-Denied Environments
Carmen Martinez Almansa, Wang Shule, Jorge Peña Queralta, Tomi Westerlund
University of Turku, Finland
10:40
Performance analysis of collaborative positioning method in automated car driving
Shuo Li, Nikolay Mikhaylov, Florian Schiegg
Robert Bosch GmbH, Germany
11:00 Keynote Sensory technology for medical wearables and rehabilitation robotics
Chair: Simona Lohan, TAU
Prof. Nirvana Popescu
University Polytechnic Bucarest
12:00 Break
12:20 Special Session Wearables (A-WEAR)
Chair: Aleksandr Ometov, Tampere University
12:20
Privacy versus Location Accuracy in Opportunistic Wearable Networks
Viktoriia Shubina1, Aleksandr Ometov1, Sergey Andreev1, Dragos Niculescu2, Elena Simona Lohan1
1Tampere University, Finland
2University “Politehnica” of Bucharest, Romania
12:40
Lossy Compression Methods for Performance-Restricted Wearable Devices
Lucie Klus1, Elena Simona Lohan1, Carlos Granell2, Jari Nurmi1
1Tampere University, Finland
2Universitat Jaume I, Spain
13:00
Privacy in Indoor Positioning Systems:a systematic review
Sylvia Holcer1, Joaquín Torres-Sospedra1,2, Michael Gould1, Inmaculada Remolar1
1Institute of New Imaging Technologies, UJI, Spain
2UBIK Geospatial Solutions S.L., Castellón, Spain
13:20
New Cluster Selection and Fine-grained Search for k-Means Clustering and Wi-Fi Fingerprinting
Joaquín Torres-Sospedra1,2, Darwin Quezada2, Germán Martín Mendoza-Silva2, Jari Nurmi3, Yevgeni Koucheryavy3, Joaquín Huerta2
1UBIK Geospatial Solutions S.L., Spain
2Universitat Jaume I, Spain
3Tampere University, Finland
13:40 Lunch Break
14:20 Technical Session GALILEO
Chair: Terry Moore, The University of Nottingham
14:20
Signal performance analysis of the latest quartet of Galileo satellites
Octavian Andrei1, Jan Johansson2, Hannu Koivula1, Markku Poutanen1
1National Land Survey of Finland, Finland
2Chalmers University of Technology, Sweden
14:40
Opportunities and challenges of Galileo E5 wideband real signals processing
Nicola Linty, Mohammad Zahidul H. Bhuiyan, Martti Kirkko-Jaakkola
Finnish Geospatial research Institute (FGI-NLS), Finland
15:00
On the Time-Delay Estimation Performance Limit of New GNSS Acquisition Codes
Lorenzo Ortega1, Jordi Vilà-Valls2, Eric Chaumette2, François Vincent2
1TeSA, France
2ISAE-SUPAERO/University of Toulouse
15:20
Galileo OSNMA: an implementation for ARM-based embedded platforms
Micaela Troglia Gamba, Mario Nicola, Beatrice Motella
LINKS Foundation, Italy
15:40 Break
16:00 Special Session Localization Techniques
Chair: Bo Tan, Tampere University
16:00
GNSS Aided Non-Line-of-Sight Radio Localization via Dual Polarized Arrays
Marco Antonio Marques Marinho1, Alexey Vinel1, Felix Antreich2, Per Gustafson3
1Halmstad University, Sweden
2Aeronautics Institute of Technology (ITA), Brazil
3Gutec AB, Sweden
16:20
Audio Source Positioning Based on Angle of Arrival Measurements Using Particle Filter
Mikko Lager, Simo Ali-Löytty, Robert Piché
Tampere University, Finland
16:40
MAMPI – Multipath-assisted Device-free Localization with Magnitude and Phase Information
Marco Cimdins, Sven Ole Schmidt, Horst Hellbrück
Technische Hochschule Lübeck, Germany
17:00 Awards, ICL-GNSS 2021 and closing
Prof. Jari Nurmi
17:20 End of ICL-GNSS 2020