{"id":"https://openalex.org/W3145963815","doi":"https://doi.org/10.1186/s43020-021-00061-z","title":"Equivariant filtering framework for inertial-integrated navigation","display_name":"Equivariant filtering framework for inertial-integrated navigation","publication_year":2021,"publication_date":"2021-12-01","ids":{"openalex":"https://openalex.org/W3145963815","doi":"https://doi.org/10.1186/s43020-021-00061-z","mag":"3145963815"},"language":"en","primary_location":{"id":"doi:10.1186/s43020-021-00061-z","doi":"https://doi.org/10.1186/s43020-021-00061-z","is_oa":true,"landing_page_url":"https://doi.org/10.1186/s43020-021-00061-z","pdf_url":"https://satellite-navigation.springeropen.com/track/pdf/10.1186/s43020-021-00061-z","source":{"id":"https://openalex.org/S3035671286","display_name":"Satellite Navigation","issn_l":"2662-1363","issn":["2662-1363","2662-9291"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","dongbi-a","jufo-1","oarl","poland-20","russia-white-list-1"],"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Satellite Navigation","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["arxiv","crossref","datacite","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://satellite-navigation.springeropen.com/track/pdf/10.1186/s43020-021-00061-z","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030613989","display_name":"Yarong Luo","orcid":"https://orcid.org/0000-0001-6840-4800","observed_orcids":["https://orcid.org/0000-0001-6840-4800"]},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yarong Luo","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072031132","display_name":"Chi Guo","orcid":"https://orcid.org/0000-0003-2022-2121","observed_orcids":["https://orcid.org/0000-0003-2022-2121"]},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chi Guo","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China","Institute of Artificial Intelligence, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-2022-2121","affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"Institute of Artificial Intelligence, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101705111","display_name":"Jingnan Liu","orcid":"https://orcid.org/0000-0003-4689-4161","observed_orcids":["https://orcid.org/0000-0003-4689-4161"]},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jingnan Liu","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5101705111"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":{"value":0,"currency":"USD","value_usd":0},"apc_paid":{"value":0,"currency":"USD","value_usd":0},"fwci":2.7646,"has_fulltext":true,"cited_by_count":34,"citation_normalized_percentile":{"value":0.90468546,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"2","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9932000041007996,"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":0.9932000041007996,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.005799999926239252,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.00019999999494757503,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/se-3-lie-group","display_name":"SE(3) Lie group","score":0.7310000061988831},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"extended Kalman filter","score":0.7950000166893005},{"id":"https://openalex.org/keywords/state-estimation","display_name":"state estimation","score":0.671999990940094},{"id":"https://openalex.org/keywords/misalignment-angle","display_name":"misalignment angle","score":0.7390000224113464}],"concepts":[{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.7385821342468262},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6915963888168335},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.6804794073104858},{"id":"https://openalex.org/C171036898","wikidata":"https://www.wikidata.org/wiki/Q256355","display_name":"Equivariant map","level":2,"score":0.6360864639282227},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5540984272956848},{"id":"https://openalex.org/C187915474","wikidata":"https://www.wikidata.org/wiki/Q622679","display_name":"Lie group","level":2,"score":0.5181280970573425},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5169255137443542},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4917741119861603},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.46746113896369934},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43722572922706604},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4264149069786072},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.4217606782913208},{"id":"https://openalex.org/C58754882","wikidata":"https://www.wikidata.org/wiki/Q1502887","display_name":"Geodetic datum","level":2,"score":0.4205816984176636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3671789765357971},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3369923532009125},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.2786116600036621},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26228198409080505},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2557346224784851},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.23631134629249573},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.16967952251434326},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.16476768255233765},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11571073532104492},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.08746227622032166},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08444657921791077},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1186/s43020-021-00061-z","doi":"https://doi.org/10.1186/s43020-021-00061-z","is_oa":true,"landing_page_url":"https://doi.org/10.1186/s43020-021-00061-z","pdf_url":"https://satellite-navigation.springeropen.com/track/pdf/10.1186/s43020-021-00061-z","source":{"id":"https://openalex.org/S3035671286","display_name":"Satellite Navigation","issn_l":"2662-1363","issn":["2662-1363","2662-9291"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","dongbi-a","jufo-1","oarl","poland-20","russia-white-list-1"],"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Satellite Navigation","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2103.14873","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.14873","pdf_url":"https://arxiv.org/pdf/2103.14873","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:doaj.org/article:70dcae9db48340b7bbf6bcdd1f4ae2a5","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/70dcae9db48340b7bbf6bcdd1f4ae2a5","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Satellite Navigation, Vol 2, Iss 1, Pp 1-17 (2021)","raw_type":"article"},{"id":"doi:10.48550/arxiv.2103.14873","doi":"https://doi.org/10.48550/arxiv.2103.14873","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2103.14873","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.1186/s43020-021-00061-z","doi":"https://doi.org/10.1186/s43020-021-00061-z","is_oa":true,"landing_page_url":"https://doi.org/10.1186/s43020-021-00061-z","pdf_url":"https://satellite-navigation.springeropen.com/track/pdf/10.1186/s43020-021-00061-z","source":{"id":"https://openalex.org/S3035671286","display_name":"Satellite Navigation","issn_l":"2662-1363","issn":["2662-1363","2662-9291"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","dongbi-a","jufo-1","oarl","poland-20","russia-white-list-1"],"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Satellite Navigation","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G1004393573","display_name":null,"funder_award_id":"2018YFB1305001","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5115193798","display_name":null,"funder_award_id":"2018YFB1305001","funder_id":"https://openalex.org/F4320324116","funder_display_name":"Wuhan University"}],"funders":[{"id":"https://openalex.org/F4320324116","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3145963815.pdf","grobid_xml":"https://content.openalex.org/works/W3145963815.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W1529094214","https://openalex.org/W1579438189","https://openalex.org/W1912544382","https://openalex.org/W1943808550","https://openalex.org/W1966244759","https://openalex.org/W2107929215","https://openalex.org/W2244651041","https://openalex.org/W2799927624","https://openalex.org/W2808072442","https://openalex.org/W3000625188","https://openalex.org/W3007356975","https://openalex.org/W3010897173","https://openalex.org/W3014434491","https://openalex.org/W3034834215","https://openalex.org/W3087672182","https://openalex.org/W3108652777","https://openalex.org/W3118701608","https://openalex.org/W3120552235","https://openalex.org/W3135546557","https://openalex.org/W4288059702"],"related_works":["https://openalex.org/W4388505235","https://openalex.org/W3135546557","https://openalex.org/W4400726584","https://openalex.org/W3130906300","https://openalex.org/W4413153907","https://openalex.org/W3197828111","https://openalex.org/W4285102326","https://openalex.org/W4402856374","https://openalex.org/W4409883145","https://openalex.org/W7167591305"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"paper":[2],"proposes":[3],"an":[4,43,92],"Equivariant":[5],"Filtering":[6],"(EqF)":[7],"framework":[8,95],"for":[9],"the":[10,15,19,27,32,35,48,54,59,63,71,75,81,86,97,102,110,113],"inertial-integrated":[11,20,72,87],"state":[12],"estimation.":[13],"As":[14],"kinematic":[16],"system":[17,56],"of":[18,34,62,85,112],"navigation":[21,105,132],"can":[22,38],"be":[23,39],"naturally":[24],"modeled":[25],"on":[26,53,96],"matrix":[28],"Lie":[29,36],"group":[30,37],"SE2(3),":[31],"symmetry":[33],"exploited":[40],"to":[41],"design":[42,91],"equivariant":[44,83,93],"filter":[45],"which":[46],"extends":[47],"invariant":[49],"extended":[50],"Kalman":[51,66],"filtering":[52,94],"group-affine":[55,76],"and":[57,101],"overcomes":[58],"inconsitency":[60],"issue":[61],"traditional":[64],"extend":[65],"filter.":[67],"We":[68],"firstly":[69],"formulate":[70],"dynamics":[73],"as":[74],"systems.":[77],"Then,":[78],"we":[79,90],"prove":[80],"left":[82],"properties":[84],"dynamics.":[88],"Finally,":[89],"earth-centered":[98],"earth-fixed":[99],"frame":[100],"local":[103],"geodetic":[104],"frame.":[106],"The":[107],"experiments":[108],"show":[109],"superiority":[111],"proposed":[114],"filters":[115],"when":[116],"confronting":[117],"large":[118],"misalignment":[119],"angles":[120],"in":[121],"Global":[122],"Navigation":[123,125,127],"Satellite":[124],"(GNSS)/Inertial":[126],"System":[128],"(INS)":[129],"loosely":[130],"integrated":[131],"experiments.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2021-04-13T00:00:00"}
