Sitemap
A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.
Pages
Penggao Yan
Trusted autonomy researcher at The Hong Kong Polytechnic University, building reliable navigation, integrity monitoring, and uncertainty-aware localization systems.
Posts
Blog Post number 4
Published:
This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
Blog Post number 3
Published:
This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
Blog Post number 2
Published:
This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
Blog Post number 1
Published:
This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
publications
Integration of Vehicle Dynamic Model and System Identified Model for Navigation in Autonomous Mobile Robots
Published in International Technical Meeting 2023, 2023
Sensor-free localization under extreme conditions 
DOI | Download Paper | Slides
Extending Navigation Service under Sensor Failures: An Approach by Integrating System Identification and Vehicle Dynamic Model
Published in 2023 IEEE/ION Position, Location and Navigation Symposium (PLANS), 2023
Introduce the online system identification 
DOI | Download Paper | Slides
Integration of Vehicle Dynamic Model and System Identification Model for Extending the Navigation Service Under Sensor Failures
Published in IEEE Transactions on Intelligent Vehicles, 2023
Integration of system identification and vehicle dynamic models 
A Fault Detection Algorithm for LiDAR/IMU Integrated Localization Systems with Non-Gaussian Noises
Published in International Technical Meeting 2024, 2024
Detecting faulty measurements in EKF-based LiDAR/IMU integrated localization systems under non-Gaussian nominal error
DOI | Download Paper | Slides
Bounding the Heavy-tailed DGNSS Error by Leveraging Membership Weights Analysis of Gaussian Mixture Model
Published in Pacific PNT 2024, 2024
Non-Gaussian overbound for heavy-tailed DGNSS error 
Subspace-based Adaptive GMM Error Modeling for Fault-Aware Vehicular GNSS Positioning in Urban Canyons
Published in IEEE Transactions on Intelligent Vehicles, 2024
Simultaneous adaptive error modeling and fault detection and exclusion 
Principal Gaussian Overbound for Heavy-tailed Error Bounding
Published in IEEE Transactions on Aerospace and Electronic Systems, 2024
A conservative yet sharp non-Gaussian overbound for heavy-tailed error distributions 
Jackknife test for faulty GNSS measurements detection under non-Gaussian noises
Published in ION GNSS+ 2024, 2024
Theoretically-guaranteed non-Gaussian detector 
DOI | Download Paper | Slides
Fault Detection Algorithm for Gaussian Mixture Noises:An Application in LiDAR/IMU Integrated Localization System
Published in NAVIGATION: Journal of the Institute of Navigation, 2024
Multiple Faults Isolation For Multi-Constellation GNSS Positioning through Incremental Expansion of Consistent Measurements
Published in IEEE Sensors Journal, 2024
An expanding approach to detect and isolate multiple faulty measurements in pseudorange-based positioning systems 
Cauchy-Gaussian Overbound for Heavy-tailed GNSS Measurement Errors
Published in NAVIGATION: Journal of the Institute of Navigation, 2026
Leveraging the bounding sharpness of the Cauchy distribution in the core and the Gaussian distribution in the tails to tightly bound heavy-tailed GNSS measurement errors 
Jackknife ARAIM: Efficient GNSS Integrity Monitoring for Simultaneous Faults under Non-Gaussian Errors
Published in Aerospace Systems, 2026
Efficient GNSS Integrity Monitoring for Simultaneous Faults under Non-Gaussian Errors 
Credible Uncertainty Quantification under Noise and System Model Mismatch
Published in IEEE Transactions on Instrumentation and Measurement, 2026
Unified NCI, NLL, and ES framework with empirical location test (ELT) and directional probing to diagnose noise vs. system model mismatch 
Improved GNSS Positioning in Urban Environments Using a Logistic Error Model
Published in ArXiv, 2026
Logistic pseudorange errors and the Least Quasi-Log-Cosh (LQLC) M-estimator with IRLS for urban GNSS, validated in light, medium, and deep urban Hong Kong data 
Logistic-aided Huber M-estimator for robust GNSS positioning
Published in ArXiv, 2026
Score-matched mapping from logistic quasi-log-cosh to Huber yields closed-form tuning σᵢ = √2 sᵢ, cᵢ = √2; validated in simulation and urban GNSS data 
A Tutorial Review of Statistical Snapshot Detectors for GNSS/RAIM Fault Detection: Unified Derivations and Detector Relationships
Published in Sensors, 2026
A tutorial review that places major statistical snapshot detectors for GNSS/RAIM fault detection in a unified derivation framework.
service
Student Helper — 25th HKSTS International Conference
Published:
The conference brought together transportation researchers and practitioners around the theme of sustainable mobility.
Session Chair — AI-Driven Positioning and Navigation
Published:
The session focused on how modern artificial-intelligence methods can support positioning and navigation research and practice.
Committee Member — Navigation for Intelligent Vehicles
Published:
The committee connects researchers working on GNSS, multisensor fusion, advanced filtering, integrity monitoring, and simultaneous localization and mapping for safe and certifiable vehicle navigation.
Session Chair — Innovations in Navigation for Smartphones and Wearables
Published:
The session brought together research on smartphone RTK, urban-canyon positioning, smartwatch PDR/GNSS integration, distributed positioning, and Android pseudorange generation.
Organizing Committee Chair — ICASSE 2026
Published:
The official ICASSE 2026 committee roster lists Penggao Yan as Organizing Committee Chair. The conference was held at The Hong Kong Polytechnic University on July 16–17, 2026.
Editorial Board Member — Aerospace Systems
Published:
I joined the Editorial Board of Aerospace Systems effective July 31, 2026. The journal’s official Springer Nature editorial-board page lists Penggao Yan under Editorial Board Members.
talks
Integration of Vehicle Dynamic Model and System Identified Model for Navigation in Autonomous Mobile Robots
Published:
This presentation was delivered online and introduced the early system-identification work that later developed into a broader research line on resilient localization under sensor failures.
Extending Navigation Service under Sensor Failures: An Approach by Integrating System Identification and Vehicle Dynamic Model
Published:
The talk connected system identification with a vehicle dynamic model to preserve useful navigation information when sensing degrades or fails.
A Fault Detection Algorithm for LiDAR/IMU Integrated Localization Systems with Non-Gaussian Noises
Published:
This invited presentation focused on the gap between textbook Gaussian assumptions and real localization errors, and on how a Gaussian-mixture treatment changes detection design.
Bounding the Heavy-Tailed Pseudorange Error by Leveraging Membership Weights Analysis of Gaussian Mixture Model
Published:
This conference contribution developed the overbounding thread that later led to sharper non-Gaussian integrity models.
Jackknife Test for Faulty GNSS Measurements Detection under Non-Gaussian Noises
Published:
The talk presented a computationally efficient alternative to conventional solution-separation detection while retaining theoretical guarantees under non-Gaussian nominal errors.
Towards Provably Reliable Uncertainty Quantification for Automotive State Estimation
Published:
The workshop brought integrity ideas from aviation and GNSS into the broader challenge of reliable localization, mapping, and perception for automated vehicles.
Beyond Covariance: Credible Uncertainty Quantification in Multi-Sensor Fusion
Published:
The talk connected statistical consistency checks, proper scoring rules, and model-diagnosis tools for multisensor estimation systems.
Beyond Gaussian Assumptions: Toward Trustworthy Navigation in Autonomous Systems
Published:
The presentation connected non-Gaussian error modeling with the broader challenge of building navigation systems whose uncertainty and integrity remain dependable in realistic operating conditions.
Lightweight GNSS DPE/INS Integration Using Google Smartphone Decimeter Challenge Dataset
Published:
The contribution used inertial priors to constrain the direct-position-estimation search space, improving robustness and efficiency on real smartphone data.
Enhancing Availability of GNSS Integrity Monitoring: An Efficient Jackknife Approach in Non-Gaussian Environments
Published:
The presentation extended jackknife fault detection toward integrity monitoring, with emphasis on simultaneous faults, computational efficiency, and tighter protection levels under realistic non-Gaussian nominal errors. The related journal work was later published as Jackknife ARAIM: Efficient GNSS Integrity Monitoring for Simultaneous Faults under Non-Gaussian Errors.
Challenges and Lessons in Assessing the DGPS Positioning Credibility for Landslides Monitoring
Published:
The presentation showed how an empirical location test and covariance-consistency checks can distinguish systematic bias from noise-model mismatch in remote monitoring networks.
teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
This is a description of a teaching experience. You can use markdown like any other post.
Teaching experience 2
Workshop, University 1, Department, 2015
This is a description of a teaching experience. You can use markdown like any other post.