{"id":"https://openalex.org/W3046016151","doi":"https://doi.org/10.1109/tim.2020.3011873","title":"A Robust In-Motion Alignment Method With Inertial Sensors and Doppler Velocity Log","display_name":"A Robust In-Motion Alignment Method With Inertial Sensors and Doppler Velocity Log","publication_year":2020,"publication_date":"2020-07-27","ids":{"openalex":"https://openalex.org/W3046016151","doi":"https://doi.org/10.1109/tim.2020.3011873","mag":"3046016151"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2020.3011873","doi":"https://doi.org/10.1109/tim.2020.3011873","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2020.3011873","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-b","jufo-3","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074503050","display_name":"Xiang Xu","orcid":"https://orcid.org/0000-0002-8312-3350","observed_orcids":["https://orcid.org/0000-0002-8312-3350","https://orcid.org/0000-0002-4388-1915","https://orcid.org/0000-0002-0626-7609"]},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Xu","raw_affiliation_strings":["School of Electronic and Information Engineering, Soochow University, Suzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8312-3350","affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jing Gui","orcid":"https://orcid.org/0000-0002-6202-0002","observed_orcids":["https://orcid.org/0000-0002-6202-0002"]},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Gui","raw_affiliation_strings":["School of Electronic and Information Engineering, Soochow University, Suzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-6202-0002","affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101466286","display_name":"Yifan Sun","orcid":"https://orcid.org/0000-0002-4184-1135","observed_orcids":["https://orcid.org/0000-0002-4184-1135"]},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Sun","raw_affiliation_strings":["School of Electronic and Information Engineering, Soochow University, Suzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4184-1135","affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051964287","display_name":"Yiqing Yao","orcid":"https://orcid.org/0000-0001-5721-7129","observed_orcids":["https://orcid.org/0000-0001-5721-7129"]},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiqing Yao","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-5721-7129","affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100375754","display_name":"Tao Zhang","orcid":"https://orcid.org/0000-0001-9955-3905","observed_orcids":["https://orcid.org/0000-0001-9955-3905"]},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Zhang","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-9955-3905","affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2045,"currency":"USD","value_usd":2045},"apc_paid":null,"fwci":4.8021,"has_fulltext":false,"cited_by_count":57,"citation_normalized_percentile":{"value":0.95878939,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":99},"biblio":{"volume":"70","issue":null,"first_page":"1","last_page":"13"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":9.999999747378752e-05,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/strapdown-inertial-navigation-system","display_name":"strapdown inertial navigation system","score":0.9419999718666077},{"id":"https://openalex.org/keywords/in-motion-alignment","display_name":"in-motion alignment","score":0.8169999718666077},{"id":"https://openalex.org/keywords/doppler-velocity-log","display_name":"Doppler velocity log","score":0.9470000267028809},{"id":"https://openalex.org/keywords/outlier-detection","display_name":"outlier detection","score":0.7490000128746033},{"id":"https://openalex.org/keywords/quest-algorithm","display_name":"QUEST algorithm","score":0.5870000123977661},{"id":"https://openalex.org/keywords/attitude-estimation","display_name":"attitude estimation","score":0.3709999918937683}],"concepts":[{"id":"https://openalex.org/C142757262","wikidata":"https://www.wikidata.org/wiki/Q76436","display_name":"Doppler effect","level":2,"score":0.674686074256897},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5402990579605103},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.5052178502082825},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4606826901435852},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.460615873336792},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4443872272968292},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4148152768611908},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2488795518875122},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.15223583579063416},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2020.3011873","doi":"https://doi.org/10.1109/tim.2020.3011873","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2020.3011873","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-b","jufo-3","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G1561116626","display_name":null,"funder_award_id":"2242018K40065","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G6647374271","display_name":null,"funder_award_id":"614221805051809","funder_id":"https://openalex.org/F4320325552","funder_display_name":"Shanghai Key Laboratory of Navigation and Location Based Services"},{"id":"https://openalex.org/G8123524089","display_name":null,"funder_award_id":"61803278","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320325552","display_name":"Shanghai Key Laboratory of Navigation and Location Based Services","ror":"https://ror.org/037c6vm21"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W636927631","https://openalex.org/W1579438189","https://openalex.org/W1964939042","https://openalex.org/W1966244759","https://openalex.org/W2006863675","https://openalex.org/W2042414327","https://openalex.org/W2069693317","https://openalex.org/W2091782715","https://openalex.org/W2097275135","https://openalex.org/W2108905276","https://openalex.org/W2109455849","https://openalex.org/W2123865263","https://openalex.org/W2124997408","https://openalex.org/W2135998701","https://openalex.org/W2139511704","https://openalex.org/W2141187831","https://openalex.org/W2170940176","https://openalex.org/W2343391171","https://openalex.org/W2531768534","https://openalex.org/W2594478785","https://openalex.org/W2794254435","https://openalex.org/W2802267618","https://openalex.org/W2912363873"],"related_works":["https://openalex.org/W3008229407","https://openalex.org/W3010919627","https://openalex.org/W2802267618","https://openalex.org/W4417357264","https://openalex.org/W4385489752","https://openalex.org/W4389230847","https://openalex.org/W4389887871","https://openalex.org/W2369915667","https://openalex.org/W3120058600","https://openalex.org/W4405314106"],"abstract_inverted_index":{"The":[0,183],"initial":[1,63],"alignment":[2,40,64,70,184],"process":[3],"is":[4,17,34,78,94,112,129,138,159],"of":[5,19,29,45,61,90,100,179,203],"vital":[6],"importance":[7],"to":[8,36,49,140,161,175],"the":[9,20,26,38,43,52,55,59,62,73,84,88,97,101,118,125,142,146,151,154,168,177,180,188,195,201,209],"strapdown":[10],"inertial":[11,21],"navigation":[12,76],"system":[13,77],"(SINS),":[14],"and":[15,54,92,110,122,170],"SINS":[16,91,109],"consisting":[18],"sensors.":[22],"In":[23],"this":[24,81],"article,":[25],"aiding":[27],"velocity":[28,31],"Doppler":[30],"log":[32],"(DVL)":[33],"used":[35,139],"implement":[37,162],"in-motion":[39,69],"process.":[41,65],"However,":[42],"measurements":[44,89,202],"DVL":[46,93,111,204],"are":[47,173,205],"easy":[48],"corrupt":[50],"by":[51,103,208],"outliers,":[53],"outliers":[56,132],"will":[57],"degrade":[58],"performance":[60,178],"Thus,":[66],"a":[67,163],"robust":[68,136,164],"method":[71,128,158,190,198],"for":[72,131],"SINS/DVL":[74],"integrated":[75],"proposed":[79,181,189],"in":[80,114,199],"article.":[82],"First,":[83],"vector":[85,102],"construction":[86],"with":[87,145,194],"introduced.":[95],"Then,":[96],"discrete":[98],"form":[99],"considering":[104],"different":[105],"sampling":[106],"rates":[107],"between":[108,120],"derived":[113],"detail.":[115],"By":[116],"analyzing":[117],"relationship":[119],"observed":[121],"reference":[123],"vectors,":[124],"magnitude":[126,147],"matching":[127,148],"devised":[130],"detecting.":[133],"Meanwhile,":[134],"Huber\u2019s":[135],"theory":[137],"calculate":[141],"weighted":[143,152],"value":[144],"method.":[149,182],"Using":[150],"value,":[153],"filter-QUEST":[155],"attitude":[156,165],"determined":[157],"modified":[160],"determination.":[166],"Finally,":[167],"simulation":[169],"field":[171],"tests":[172],"designed":[174],"validate":[176],"results":[185],"demonstrate":[186],"that":[187],"has":[191],"similar":[192],"accuracy":[193],"current":[196],"popular":[197],"which":[200],"not":[206],"corrupted":[207],"outliers.":[210]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":1}],"updated_date":"2026-11-11T12:16:26.678958","created_date":"2020-08-03T00:00:00"}