{"id":"https://openalex.org/W4308337008","doi":"https://doi.org/10.23919/jsee.2022.000105","title":"Gaussian process regression-based quaternion unscented Kalman robust filter for integrated SINS/GNSS","display_name":"Gaussian process regression-based quaternion unscented Kalman robust filter for integrated SINS/GNSS","publication_year":2022,"publication_date":"2022-10-01","ids":{"openalex":"https://openalex.org/W4308337008","doi":"https://doi.org/10.23919/jsee.2022.000105"},"language":"en","primary_location":{"id":"doi:10.23919/jsee.2022.000105","doi":"https://doi.org/10.23919/jsee.2022.000105","is_oa":true,"landing_page_url":"https://doi.org/10.23919/jsee.2022.000105","pdf_url":"https://ieeexplore.ieee.org/ielx7/5971804/9940202/09940214.pdf","source":{"id":"https://openalex.org/S4210221484","display_name":"Journal of Systems Engineering and Electronics","issn_l":"1004-4132","issn":["1004-4132"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-c","norway-1","poland-40","russia-white-list-2"],"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":"Journal of Systems Engineering and Electronics","raw_type":"journal-article"},"parent_works":[],"lineage":["https://openalex.org/W4308337008"],"child_works_count":0,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://ieeexplore.ieee.org/ielx7/5971804/9940202/09940214.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026726859","display_name":"Xu Lyu","orcid":"https://orcid.org/0000-0003-4171-1864","observed_orcids":["https://orcid.org/0000-0003-4171-1864"]},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Lyu","raw_affiliation_strings":["College of Electrical Engineering, Naval University of Engineering,Wuhan,China,430033","Beijing Huahang Radio Measurement Research Institute, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Naval University of Engineering,Wuhan,China,430033","institution_ids":["https://openalex.org/I2800710378"]},{"raw_affiliation_string":"Beijing Huahang Radio Measurement Research Institute, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080140392","display_name":"Baiqing Hu","orcid":"https://orcid.org/0000-0001-8011-5227","observed_orcids":["https://orcid.org/0000-0001-8011-5227"]},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baiqing Hu","raw_affiliation_strings":["College of Electrical Engineering, Naval University of Engineering,Wuhan,China,430033"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Naval University of Engineering,Wuhan,China,430033","institution_ids":["https://openalex.org/I2800710378"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yongbin Dai","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I2898894","display_name":"Liaoning University of Technology","ror":"https://ror.org/05ay23762","country_code":"CN","type":"education","lineage":["https://openalex.org/I2898894"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongbin Dai","raw_affiliation_strings":["School of Electrical Engineering, Liaoning University of Technology,Jinzhou,China,121001"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Liaoning University of Technology,Jinzhou,China,121001","institution_ids":["https://openalex.org/I2898894"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mingfang Sun","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingfang Sun","raw_affiliation_strings":["School of Electronics and Information Engineering, Harbin Institute of Technology,Harbin,China,150001"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Information Engineering, Harbin Institute of Technology,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100330597","display_name":"Yi Liu","orcid":"https://orcid.org/0000-0003-0164-0715","observed_orcids":["https://orcid.org/0000-0003-0164-0715"]},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Liu","raw_affiliation_strings":["College of Electrical Engineering, Naval University of Engineering,Wuhan,China,430033"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Naval University of Engineering,Wuhan,China,430033","institution_ids":["https://openalex.org/I2800710378"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057548240","display_name":"Duanyang Gao","orcid":"https://orcid.org/0000-0003-4034-7183","observed_orcids":["https://orcid.org/0000-0003-4034-7183"]},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Duanyang Gao","raw_affiliation_strings":["College of Electrical Engineering, Naval University of Engineering,Wuhan,China,430033"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Naval University of Engineering,Wuhan,China,430033","institution_ids":["https://openalex.org/I2800710378"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1688,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.73999758,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"33","issue":"5","first_page":"1079","last_page":"1088"},"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.0003000000142492354,"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":0.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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":0.8420000076293945},{"id":"https://openalex.org/keywords/quaternion-estimation","display_name":"quaternion estimation","score":0.7210000157356262},{"id":"https://openalex.org/keywords/unscented-kalman-filter","display_name":"unscented Kalman filter","score":0.906000018119812},{"id":"https://openalex.org/keywords/gaussian-process-regression","display_name":"Gaussian process regression","score":0.984000027179718},{"id":"https://openalex.org/keywords/robust-filtering","display_name":"robust filtering","score":0.871999979019165},{"id":"https://openalex.org/keywords/gnss-signal-interference","display_name":"GNSS signal interference","score":0.824999988079071},{"id":"https://openalex.org/keywords/non-gaussian-measurement-noise","display_name":"non-Gaussian measurement noise","score":0.824999988079071},{"id":"https://openalex.org/keywords/sliding-window-training","display_name":"sliding window training","score":0.6919999718666077}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7648022770881653},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6578134298324585},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.635327160358429},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.6035562753677368},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5778588056564331},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.534713625907898},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.513384222984314},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.46516847610473633},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.46253374218940735},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.412193238735199},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38580822944641113},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.31094032526016235},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18539106845855713},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1433119773864746},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.13531920313835144},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/jsee.2022.000105","doi":"https://doi.org/10.23919/jsee.2022.000105","is_oa":true,"landing_page_url":"https://doi.org/10.23919/jsee.2022.000105","pdf_url":"https://ieeexplore.ieee.org/ielx7/5971804/9940202/09940214.pdf","source":{"id":"https://openalex.org/S4210221484","display_name":"Journal of Systems Engineering and Electronics","issn_l":"1004-4132","issn":["1004-4132"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-c","norway-1","poland-40","russia-white-list-2"],"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":"Journal of Systems Engineering and Electronics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.23919/jsee.2022.000105","doi":"https://doi.org/10.23919/jsee.2022.000105","is_oa":true,"landing_page_url":"https://doi.org/10.23919/jsee.2022.000105","pdf_url":"https://ieeexplore.ieee.org/ielx7/5971804/9940202/09940214.pdf","source":{"id":"https://openalex.org/S4210221484","display_name":"Journal of Systems Engineering and Electronics","issn_l":"1004-4132","issn":["1004-4132"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-c","norway-1","poland-40","russia-white-list-2"],"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":"Journal of Systems Engineering and Electronics","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G349614645","display_name":null,"funder_award_id":"61873275,61703419,425317829","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"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4308337008.pdf","grobid_xml":"https://content.openalex.org/works/W4308337008.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1822076674","https://openalex.org/W2026627614","https://openalex.org/W2026891225","https://openalex.org/W2041668376","https://openalex.org/W2049650637","https://openalex.org/W2052746091","https://openalex.org/W2056698770","https://openalex.org/W2083954410","https://openalex.org/W2098392733","https://openalex.org/W2116883614","https://openalex.org/W2120052708","https://openalex.org/W2121990344","https://openalex.org/W2124101749","https://openalex.org/W2129564505","https://openalex.org/W2362178709","https://openalex.org/W2373010564","https://openalex.org/W2792482170","https://openalex.org/W2887157337","https://openalex.org/W2933126904","https://openalex.org/W3007017295","https://openalex.org/W3119758229","https://openalex.org/W4211049957"],"related_works":["https://openalex.org/W2312313650","https://openalex.org/W1998727970","https://openalex.org/W3004636822","https://openalex.org/W4399525075","https://openalex.org/W3097101616","https://openalex.org/W2360285959","https://openalex.org/W2427958881","https://openalex.org/W3177150933","https://openalex.org/W4313306949","https://openalex.org/W1989403023"],"abstract_inverted_index":{"High-precision":[0],"filtering":[1],"estimation":[2,23,38,76,90,114,190],"is":[3,64,83,123],"one":[4],"of":[5,32,55,92,107,116,130,145,150,167,172,196],"the":[6,29,33,43,48,53,56,60,87,93,100,105,108,113,117,128,131,136,141,146,153,163,173,183,194,197],"key":[7],"techniques":[8],"for":[9,120],"strapdown":[10],"inertial":[11],"navigation":[12,14,19,34,101],"system/global":[13],"satellite":[15],"system":[16],"(SINS/GNSS)":[17],"integrated":[18],"system,":[20],"and":[21,89,139,152,165,177,188],"its":[22],"plays":[24],"an":[25],"important":[26],"role":[27],"in":[28],"performance":[30,115],"evaluation":[31],"system.":[35],"Traditional":[36],"filter":[37,75],"methods":[39],"usually":[40],"assume":[41],"that":[42,182],"measurement":[44,137,143],"noise":[45],"conforms":[46],"to":[47,66,85,98],"Gaussian":[49,79],"distribution,":[50],"without":[51],"considering":[52],"influence":[54],"pollution":[57],"introduced":[58],"by":[59],"GNSS":[61],"signal,":[62],"which":[63,161,192],"susceptible":[65],"external":[67],"interference.":[68],"To":[69],"address":[70],"this":[71],"problem,":[72],"a":[73,157],"high-precision":[74],"method":[77,126],"using":[78],"process":[80],"regression":[81],"(GPR)":[82],"proposed":[84,198],"enhance":[86],"prediction":[88],"capability":[91],"unscented":[94],"quaternion":[95],"estimator":[96],"(USQUE)":[97],"improve":[99],"accuracy.":[102],"Based":[103],"on":[104],"advantage":[106],"GPR":[109,151],"machine":[110],"learning":[111],"function,":[112],"sliding":[118],"window":[119,138],"model":[121],"training":[122],"measured.":[124],"This":[125],"estimates":[127],"output":[129],"observation":[132],"information":[133],"source":[134],"through":[135],"realizes":[140],"robust":[142,158],"update":[144],"filter.":[147],"The":[148,170],"combination":[149],"USQUE":[154],"algorithm":[155],"establishes":[156],"mechanism":[159],"framework,":[160],"enhances":[162],"robustness":[164,187],"stability":[166],"traditional":[168],"methods.":[169],"results":[171],"trajectory":[174],"simulation":[175],"experiment":[176],"SINS/GNSS":[178],"car-mounted":[179],"tests":[180],"indicate":[181],"strategy":[184],"has":[185],"strong":[186],"high":[189],"accuracy,":[191],"demonstrates":[193],"effectiveness":[195],"method.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2022-11-11T00:00:00"}
