{"id":"https://openalex.org/W4394995403","doi":"https://doi.org/10.1109/i-coste60462.2023.10500786","title":"Estimation of State for GPS-Denied Navigation of Autonomous Underwater Vehicles (AUVs) in Underwater Exploration","display_name":"Estimation of State for GPS-Denied Navigation of Autonomous Underwater Vehicles (AUVs) in Underwater Exploration","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4394995403","doi":"https://doi.org/10.1109/i-coste60462.2023.10500786"},"language":"en","primary_location":{"id":"doi:10.1109/i-coste60462.2023.10500786","doi":"https://doi.org/10.1109/i-coste60462.2023.10500786","is_oa":false,"landing_page_url":"https://doi.org/10.1109/i-coste60462.2023.10500786","pdf_url":null,"source":{"id":"https://openalex.org/S7407087677","display_name":"International Conference on Sustainable Technology and Engineering (i-COSTE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Sustainable Technology and Engineering (i-COSTE)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","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/A5050058466","display_name":"Prasanth Kumar Duba","orcid":"https://orcid.org/0000-0003-2059-0354","observed_orcids":["https://orcid.org/0000-0003-2059-0354"]},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Prasanth Kumar Duba","raw_affiliation_strings":["Indian Institute of Technology Hyderabad,NMICPS TiHAN Foundation,Sangareddy,Telangana,India","NMICPS TiHAN Foundation, Indian Institute of Technology Hyderabad, Sangareddy, Telangana, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Hyderabad,NMICPS TiHAN Foundation,Sangareddy,Telangana,India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"NMICPS TiHAN Foundation, Indian Institute of Technology Hyderabad, Sangareddy, Telangana, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069727520","display_name":"Naga Praveen Babu Mannam","orcid":"https://orcid.org/0000-0001-6241-766X","observed_orcids":["https://orcid.org/0000-0001-6241-766X"]},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Naga Praveen Babu Mannam","raw_affiliation_strings":["Indian Institute of Technology Hyderabad,NMICPS TiHAN Foundation,Sangareddy,Telangana,India","NMICPS TiHAN Foundation, Indian Institute of Technology Hyderabad, Sangareddy, Telangana, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Hyderabad,NMICPS TiHAN Foundation,Sangareddy,Telangana,India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"NMICPS TiHAN Foundation, Indian Institute of Technology Hyderabad, Sangareddy, Telangana, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5095837614","display_name":"Nishchala Mukku","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Nishchala Mukku","raw_affiliation_strings":["Indian Institute of Technology Hyderabad,NMICPS TiHAN Foundation,Sangareddy,Telangana,India","NMICPS TiHAN Foundation, Indian Institute of Technology Hyderabad, Sangareddy, Telangana, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Hyderabad,NMICPS TiHAN Foundation,Sangareddy,Telangana,India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"NMICPS TiHAN Foundation, Indian Institute of Technology Hyderabad, Sangareddy, Telangana, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"last","author":{"id":null,"display_name":"P. Rajalakshmi","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"P. Rajalakshmi","raw_affiliation_strings":["Indian Institute of Technology Hyderabad,NMICPS TiHAN Foundation,Sangareddy,Telangana,India","NMICPS TiHAN Foundation, Indian Institute of Technology Hyderabad, Sangareddy, Telangana, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Hyderabad,NMICPS TiHAN Foundation,Sangareddy,Telangana,India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"NMICPS TiHAN Foundation, Indian Institute of Technology Hyderabad, Sangareddy, Telangana, India","institution_ids":["https://openalex.org/I65181880"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I65181880"],"apc_list":null,"apc_paid":null,"fwci":1.0924,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.64501926,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9984999895095825,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9984999895095825,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.0013000000035390258,"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":0.0,"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/autonomous-underwater-vehicles","display_name":"autonomous underwater vehicles","score":0.9850000143051147},{"id":"https://openalex.org/keywords/gps-denied-navigation","display_name":"GPS-denied navigation","score":0.9909999966621399},{"id":"https://openalex.org/keywords/state-estimation","display_name":"state estimation","score":0.9769999980926514},{"id":"https://openalex.org/keywords/underwater-exploration","display_name":"underwater exploration","score":0.7770000100135803},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"sensor fusion","score":0.8420000076293945},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"extended Kalman filter","score":0.7910000085830688},{"id":"https://openalex.org/keywords/unscented-kalman-filter","display_name":"unscented Kalman filter","score":1.0},{"id":"https://openalex.org/keywords/doppler-velocity-log","display_name":"Doppler velocity log","score":0.859000027179718},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"inertial measurement unit","score":0.8970000147819519},{"id":"https://openalex.org/keywords/pressure-sensors","display_name":"pressure sensors","score":0.8700000047683716},{"id":"https://openalex.org/keywords/position-and-orientation-estimation","display_name":"position and orientation estimation","score":0.7289999723434448},{"id":"https://openalex.org/keywords/marine-survey","display_name":"marine survey","score":0.5450000166893005}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.8198726177215576},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.7933310270309448},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.582653820514679},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.49710896611213684},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.45106014609336853},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.37873774766921997},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34361615777015686},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.32697057723999023},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27056753635406494},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24254518747329712},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.19936460256576538},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.17384853959083557},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16883337497711182},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.07827684283256531},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/i-coste60462.2023.10500786","doi":"https://doi.org/10.1109/i-coste60462.2023.10500786","is_oa":false,"landing_page_url":"https://doi.org/10.1109/i-coste60462.2023.10500786","pdf_url":null,"source":{"id":"https://openalex.org/S7407087677","display_name":"International Conference on Sustainable Technology and Engineering (i-COSTE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Sustainable Technology and Engineering (i-COSTE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1572646150","https://openalex.org/W2183034352","https://openalex.org/W2256481608","https://openalex.org/W2589658453","https://openalex.org/W2805810484","https://openalex.org/W3006136081","https://openalex.org/W4285733825"],"related_works":["https://openalex.org/W7203509303","https://openalex.org/W4313191203","https://openalex.org/W2733646814","https://openalex.org/W1969142081","https://openalex.org/W4366818282","https://openalex.org/W4401809747","https://openalex.org/W4416726780","https://openalex.org/W4403826712","https://openalex.org/W2483411986","https://openalex.org/W2367396263"],"abstract_inverted_index":{"During":[0],"the":[1,37,41,50,60,75,166,180,186,192],"AUV":[2],"mission,":[3],"localization":[4],"and":[5,25,32,44,64,78,94,160,170,175,190],"Navigation":[6,111,143],"are":[7,124],"crucial.":[8],"AUVs":[9,113,145],"use":[10],"various":[11],"methods":[12],"of":[13,81,112],"Navigation,":[14,19],"such":[15,128],"as":[16,129],"Vision-":[17],"Based":[18],"INS,":[20],"Doppler":[21,157],"Velocity":[22],"Logs":[23],"(DVL),":[24],"depth":[26],"sensors":[27],"to":[28,97,100,140,163,178],"estimate":[29,165],"their":[30,98],"position":[31],"orientation.":[33],"This":[34,57,132,149],"information":[35],"guides":[36],"A":[38],"UV":[39],"along":[40],"planned":[42],"path":[43],"maintains":[45],"accurate":[46,110],"positioning.":[47],"Before":[48],"deploying":[49],"AUV,":[51],"a":[52,115,135],"mission":[53,65],"plan":[54,58],"is":[55,70],"created.":[56],"includes":[59],"survey":[61,68],"area,":[62],"waypoints,":[63],"objectives.":[66],"The":[67],"area":[69],"typically":[71],"defined":[72],"based":[73],"on":[74],"desired":[76],"coverage":[77],"specific":[79],"areas":[80],"interest.":[82],"Autonomous":[83],"underwater":[84,130],"vehicles":[85],"(AUVs)":[86],"have":[87],"gained":[88],"significant":[89],"attention":[90],"in":[91,102,119,146],"marine":[92,147],"exploration":[93],"research":[95],"due":[96],"ability":[99],"operate":[101],"challenging":[103],"environments":[104],"without":[105],"direct":[106],"human":[107],"intervention.":[108],"However,":[109],"remains":[114],"critical":[116],"issue,":[117],"particularly":[118],"scenarios":[120],"where":[121],"GPS":[122],"signals":[123],"unavailable":[125],"or":[126],"unreliable":[127],"missions.":[131],"paper":[133],"presents":[134],"novel":[136],"state":[137,181],"estimation":[138,182],"method":[139,151],"enable":[141],"GPS-denied":[142],"for":[144],"environments.":[148],"proposed":[150],"combines":[152],"sensor":[153,188],"data,":[154],"including":[155],"IMU,":[156],"velocity":[158],"log,":[159],"pressure":[161],"sensors,":[162],"accurately":[164],"vehicle's":[167],"position,":[168],"orientation,":[169],"velocity.":[171],"We":[172],"employ":[173],"EKF":[174],"UKF":[176],"framework":[177],"perform":[179],"process,":[183],"which":[184],"fuses":[185],"different":[187],"measurements":[189],"models":[191],"system's":[193],"uncertainties.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2024-04-23T00:00:00"}