Perceived Aided Sensors Integrated Navigation (PASIN) Scheme

January 5 - June 13, 2026

Conventionally, the integrated system fuses the position and orientation solutions from the sensors by Bayesian filter such as extended Kalman filter (EKF). However, this conventional integration scheme neglects a new potential, the LiDAR and cameras can describe the surrounding environment of MMS digitally, which can be used to model the GNSS signal reflection effects, the surrounding dynamic objects. In other words, the error of all the sensors can be mitigated using the perceived information. We called this integration scheme, Perceived Aided Sensors Integrated Navigation (PASIN).


​Dr. Jiang YUE (Postdoctoral Researcher)

Mr. Weisong WEN (Ph.D. Student)

Ms. Xiwei BAI (Ph.D. Student)

Ms. Bo Zhang (Research Assistant)
Mr. Yin-Chiu KAN (Technical officer in AAE PolyU)


Weisong Wen, Xiwei Bai, Yin-Chiu Kan, Li-Ta Hsu

IEEE Transactions on Vehicular Technology, 2019 (online published)

Weisong Wen, Guohao Zhang, Li-Ta Hsu

IEEE Intelligent Transportation Systems Magazine, 2019 (Accepted)

Weisong Wen, Guohao Zhang, Li-Ta Hsu

NAVIGATION, Journal of the Institute of Navigation, 2019 (Accepted)

Weisong Wen, Xiwei Bai, Wei Zhan (UCB), Masayoshi Tomizuka (UCB), Li-Ta Hsu

 IET Electronics Letters 55(6):348-349.

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