A Field-Deployable GNSS-based Navigation Stack for Outdoor Mobile Robots

arXiv:2609.28933 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-24 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-24

Updated: 2026-09-24

Code: https://github.com/YiyuanLinXX/PPBv2

Terminology

• Accuracy — 7× in this paper · explained in 1 episode
• Alignment — 4× in this paper · explained in 1 episode
• Calibration — 3× in this paper · explained in 7 episodes
• Consistency — 3× in this paper · explained in 3 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Nonlinear Model Predictive Control (NMPC) — 2× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes

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