Publications
A collection of my research work.
Found 19 publication(s).
Deep Learning-Aided Laser Doppler Velocimeter-Inertial Measurement Unit Fusion for Robust Vehicle Localization in Global Navigation Satellite Systems-Denied Environments
Zhiyi Xiang, Qi Wang, Xiaoming Nie, Jian Zhou
Engineering Applications of Artificial Intelligence 2026
A deep learning-aided dual-beam LDV and MEMS IMU fusion framework for robust vehicle localization in GNSS-denied environments using LSTM-based velocity prediction, outlier handling, reliability detection, and Lie group-based Kalman filtering.
A Fault-Tolerant Sins/Dual 2D-LDV Tightly Coupled Integration Scheme for Autonomous Vehicle Navigation
Zhiyi Xiang, Qi Wang, Shilong Jin, Xiaoming Nie, Jian Zhou
Scientific Reports 2025
A fault-tolerant tightly coupled SINS/Dual-2D-LDV integration scheme for robust autonomous vehicle navigation in GNSS-denied environments.
Further Application of Pitch Independent Laser Doppler Velocimeter in Land Vehicle Autonomous Navigation
Zhiyi Xiang, Qi Wang, Rong Huang, Shilong Jin, Xiaoming Nie, Jian Zhou
IEEE Transactions on Vehicular Technology 2025
A further application of pitch-independent laser Doppler velocimeter for land vehicle autonomous navigation, proposing loosely and tightly coupled SINS/PI-LDV integration methods with a displacement increment measurement model to improve positioning, particularly height accuracy.
车载SINS/1D-LDV杆臂误差在线标定算法
Tao Zhang, Xiaoming Nie, Jian Zhou, Qi Wang, Zhiyi Xiang
国防科技大学学报 2025
An online Kalman-filter-based calibration algorithm for compensating lever-arm errors in vehicle-mounted SINS/1D-LDV integrated navigation systems.
LSTM-Assisted SINS/2D-LDV Tightly Coupled Integration Approach Using Local Outlier Factor and Adaptive Filter
Zhiyi Xiang, Qi Wang, Xiaoming Nie, Shilong Jin, Jian Zhou
IEEE Transactions on Instrumentation and Measurement 2024
An LSTM-assisted SINS/2D-LDV tightly coupled integration method using local outlier factor detection and adaptive filtering to improve the robustness and accuracy of land autonomous navigation under LDV anomalies and lateral constraint violations.
Online calibration method for SINS/LDV integrated navigation system based on left group error definition
Zhiyi Xiang, Qi Wang, Shilong Jin, Xiaoming Nie, Jian Zhou
Measurement Science and Technology 2024
An online calibration method for SINS/LDV integrated navigation systems based on Lie group left error definitions, designed to improve robustness under large initial misalignment angles.
A water track laser Doppler velocimeter for use in underwater navigation
Rong Huang, Qi Wang, Zhiyi Xiang, Xiaoming Nie, Jian Zhou, Hui Luo
Measurement Science and Technology 2024
A water track laser Doppler velocimeter for high-concealment underwater navigation, experimentally validated as an aiding sensor for SINS in dynamic river tests.
A Robust Online Calibration Method for SINS/LDV Integrated Navigation System Based on Position Observation
Zhiyi Xiang, Qi Wang, Rong Huang, Shilong Jin, Xiaoming Nie, Jian Zhou
IEEE Sensors Journal 2024
A robust online calibration method for SINS/LDV integrated navigation systems based on position observation, designed to improve calibration accuracy and robustness under GNSS outliers and vehicle turning conditions.
Vehicle-mounted SINS/Dual LDV Integrated Navigation Method Based on Sequential Residual Chi-square Detection
Tao Zhang, Zhiyi Xiang, Jian Zhou, Xiaoming Nie, Qi Wang
2024 3rd International Symposium on Sensor Technology and Control (ISSTC) 2024
Online Calibration Method for Pitch-Independent Laser Doppler Velocimeter Based on Improved Integrated Navigation Model
Zhiyi Xiang, Qi Wang, Rong Huang, Shilong Jin, Xiaoming Nie, Jian Zhou
IEEE Transactions on Instrumentation and Measurement 2023
An online calibration method for pitch-independent laser Doppler velocimeter based on improved SINS/PI-LDV integrated navigation models using two subvelocity measurements.
Water track laser Doppler velocimeter [Invited]
Rong Huang, Qi Wang, Zhiyi Xiang, Xiaoming Nie, Jian Zhou, Hui Luo
Chinese Optics Letters 2023
A compact water track laser Doppler velocimeter for measuring underwater vehicle velocity relative to surrounding water and aiding strapdown inertial navigation systems.
A SINS/GNSS/2D-LDV integrated navigation scheme for unmanned ground vehicles
Zhiyi Xiang, Tao Zhang, Qi Wang, Shilong Jin, Xiaoming Nie, Chengfang Duan, Jian Zhou
Measurement Science and Technology 2023
A robust integrated navigation scheme for unmanned ground vehicles based on asynchronous Kalman filtering and tightly coupled SINS/GNSS/2D-LDV integration.
用于导航定位的激光多普勒测速技术研究进展
Lanjian Chen, Chongbin Xi, Jian Zhou, Xiaoming Nie, Qi Wang, Rong Huang, Zhiyi Xiang, Shilong Jin
红外与激光工程 2023
A comprehensive review of laser Doppler velocimeter technology for navigation and localization, covering measurement principles, LDV classifications, vehicle integrated navigation applications, and future development trends.
A Fast Robust In-Motion Alignment Method for Laser Doppler Velocimeter-Aided Strapdown Inertial Navigation System
Zhiyi Xiang, Qi Wang, Rong Huang, Chongbin Xi, Xiaoming Nie, Jian Zhou
IEEE Sensors Journal 2022
A fast and robust in-motion initial alignment method for LDV-aided SINS using a robust double gain square-root unscented quaternion estimator to improve alignment accuracy, convergence speed, and robustness under LDV installation and scale factor errors.
Online Calibration Technology for a One-Dimensional Laser Doppler Velocimeter Based on a Strapdown Inertial Navigation System
Chongbin Xi, Qi Wang, Xiaoming Nie, Rong Huang, Zhiyi Xiang, Jian Zhou, Shilong Jin
Applied Optics 2022
An online calibration method for a one-dimensional laser Doppler velocimeter using strapdown inertial navigation system information and Kalman-filter-based compensation.
An In-Motion Alignment Method for Laser Doppler Velocimeter-Aided Strapdown Inertial Navigation System
Zhiyi Xiang, Jian Zhou
Advances in Precision Instruments and Optical Engineering 2022
In-Motion Initial Alignment Method for LDV-Aided SINS Based on Robust Unscented Quaternion Filter
Zhiyi Xiang, Qi Wang, Jian Zhou
Proceedings of the 2021 5th International Conference on Electronic Information Technology and Computer Engineering 2022
In-motion initial alignment method for a laser Doppler velocimeter-aided strapdown inertial navigation system based on an adaptive unscented quaternion H-infinite filter
Zhiyi Xiang, Qi Wang, Rong Huang, Chongbin Xi, Xiaoming Nie, Jian Zhou
Measurement Science and Technology 2021
A robust in-motion initial alignment method for LDV-aided strapdown inertial navigation systems using an adaptive unscented quaternion H-infinite estimator.
Position observation-based calibration method for an LDV/SINS integrated navigation system
Zhiyi Xiang, Qi Wang, Rong Huang, Chongbin Xi, Xiaoming Nie, Jian Zhou
Applied Optics 2021
A robust GNSS-aided position observation-based calibration method for estimating LDV scale factor error and misalignment angles in an LDV/SINS integrated navigation system.