Waypoint-Informed Localization (WiL): A Novel Integration of 2D Maps and Onboard Sensors for Robust GNSS-Denied Navigation

Hany Ragab
Hany Ragab
⁽¹Dept. of Electrical and Computer Engineering, Queen’s University at Kingston, Ontario, K7L 3N9, Canada, and the Navigation and Instrumentation (NavINST) Research Laboratory at the Royal Military College of Canada (RMC) in Kingston, Ontario, K7K 7B4, Canada.
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- For correspondence: [email protected]
Sidney Givigi,
Sidney Givigi,
⁽²School of Computing, Queen’s University at Kingston, Ontario, K7L 2N8, Canada.
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and Aboelmagd Noureldin
Aboelmagd Noureldin
⁽²School of Computing, Queen’s University at Kingston, Ontario, K7L 2N8, Canada.
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- For correspondence: [email protected]

NAVIGATION: Journal of the Institute of Navigation
May 2026,
73
(1)
navi.767;
DOI: https://doi.org/10.33012/navi.767

FIGURE 16

Navigation performance with WiL (SA: standalone; WP: waypoint). (a) Navigation performance under GNSS Outage 3, (b) Impact of waypoint density on vehicle guidance.

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Waypoint-Informed Localization (WiL): A Novel Integration of 2D Maps and Onboard Sensors for Robust GNSS-Denied Navigation

Hany Ragab

Hany Ragab

Sidney Givigi,

Sidney Givigi,

and Aboelmagd Noureldin

Aboelmagd Noureldin

Institute of Navigation

May 2026,

73

(1)

navi.767;

DOI: 10.33012/navi.767

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Waypoint-Informed Localization (WiL): A Novel Integration of 2D Maps and Onboard Sensors for Robust GNSS-Denied Navigation

Hany Ragab

Hany Ragab

Sidney Givigi,

Sidney Givigi,

and Aboelmagd Noureldin

Aboelmagd Noureldin

Institute of Navigation

May 2026,

73

(1)

navi.767;

DOI: 10.33012/navi.767

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