Final Programme

Times are in EEST time zone (Finland). Subtract one hour for Central Europe time and two hours for UK/Ireland/Portugal time.

You can also download the program as part of the IEEE Proceedings frontmatter here.

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10:00 Conference Opening

Prof. Jari Nurmi (Tampere University)

10:20 Technical Session Hybrid Positioning

Chair: Joaquín Torres-Sospedra, Universitat Jaume I


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


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


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


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


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


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


Deep Learning Based Localization and Handover Optimization in 5G NR Networks

Roman Klus, Lucie Klus, Dmitrii Solomnickii, Mikko Valkama, Jukka Talvitie

Tampere University, Finland


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


Simultaneous Jamming and Navigation Pseudolite System

Johannes Rossouw van der Merwe, Alexander Rügamer, Wolfgang Felber

Fraunhofer IIS, Germany


Hardware Implementation and Evaluation of the HDDM

Fabio Garzia, J. Rossouw Van der Merwe, Alexander Rügamer, Wolfgang Felber

Fraunhofer IIS, Germany


Analog Mitigation of Frequency-Modulated Interference for Improved GNSS Reception

Karel Pärlin1, Taneli Riihonen2

1Rantelon, Estonia

2Tampere University, Finland


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



10:00 Special session GNSS in Smartphones


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)


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


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


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


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


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


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


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


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


On the performance of selected ionospheric modelling schemes in Precise Point Positioning

Jacek Paziewski, Rafal Sieradzki

University of Warmia and Mazury in Olsztyn, Poland


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


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


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


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


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


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


10:00 Special Session Collaborative Positioning

Chair: Alex Minetto, Politecnico di Torino


RFI Localization in a Collaborative Navigation Environment

Naveed Ahmed, Nadezda Sokolova

Norwegian University of Science and Technology, Trondheim, Norway


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


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


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


Lossy Compression Methods for Performance-Restricted Wearable Devices

Lucie Klus1, Elena Simona Lohan1, Carlos Granell2, Jari Nurmi1

1Tampere University, Finland

2Universitat Jaume I, Spain


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


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


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


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


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


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


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


Audio Source Positioning Based on Angle of Arrival Measurements Using Particle Filter

Mikko Lager, Simo Ali-Löytty, Robert Piché

Tampere University, Finland


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