{"id":"https://openalex.org/W7083451069","doi":"https://doi.org/10.1109/jsen.2025.3612377","title":"A Self-Alignment Method for HRG-SINS Based on Novel Self-Calibration Method and Error Model for Underwater Vehicle","display_name":"A Self-Alignment Method for HRG-SINS Based on Novel Self-Calibration Method and Error Model for Underwater Vehicle","publication_year":2025,"publication_date":"2025-09-26","ids":{"openalex":"https://openalex.org/W7083451069","doi":"https://doi.org/10.1109/jsen.2025.3612377"},"language":"en","primary_location":{"id":"doi:10.1109/jsen.2025.3612377","doi":"https://doi.org/10.1109/jsen.2025.3612377","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsen.2025.3612377","pdf_url":null,"source":{"id":"https://openalex.org/S189694085","display_name":"IEEE Sensors Journal","issn_l":"1530-437X","issn":["1530-437X","1558-1748","2379-9153"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-c","jufo-2","ki-jl-2","norway-2","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310321027","host_organization_name":"IEEE Sensors Council","host_organization_lineage":["https://openalex.org/P4310321027","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Sensors Council","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 Sensors Journal","raw_type":"journal-article"},"volume":null,"type":"article","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":null,"display_name":"Jianxiong Wei","orcid":"https://orcid.org/0000-0002-7633-0386","observed_orcids":["https://orcid.org/0000-0002-7633-0386"]},"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":"Jianxiong Wei","raw_affiliation_strings":["School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-7633-0386","affiliations":[{"raw_affiliation_string":"School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ya Zhang","orcid":"https://orcid.org/0000-0001-6434-6412","observed_orcids":["https://orcid.org/0000-0001-6434-6412"]},"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":"Ya Zhang","raw_affiliation_strings":["School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-6434-6412","affiliations":[{"raw_affiliation_string":"School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shiwei Fan","orcid":"https://orcid.org/0000-0002-4811-6024","observed_orcids":["https://orcid.org/0000-0002-4811-6024"]},"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":"Shiwei Fan","raw_affiliation_strings":["School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-4811-6024","affiliations":[{"raw_affiliation_string":"School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075958056","display_name":"Fei Yu","orcid":"https://orcid.org/0000-0001-8854-5707","observed_orcids":["https://orcid.org/0000-0001-8854-5707"]},"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":"Fei Yu","raw_affiliation_strings":["School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-8854-5707","affiliations":[{"raw_affiliation_string":"School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.30745133,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"25","issue":"22","first_page":"41919","last_page":"41932"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9990000128746033,"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":0.9990000128746033,"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":0.0006000000284984708,"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/T13257","display_name":"Advanced Control and Stabilization in Aerospace Systems","score":9.999999747378752e-05,"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/hemispherical-resonator-gyroscope","display_name":"hemispherical resonator gyroscope","score":0.9890000224113464},{"id":"https://openalex.org/keywords/strapdown-inertial-navigation-system","display_name":"strapdown inertial navigation system","score":0.8970000147819519},{"id":"https://openalex.org/keywords/self-calibration","display_name":"self-calibration","score":0.703000009059906},{"id":"https://openalex.org/keywords/underwater-vehicle-navigation","display_name":"underwater vehicle navigation","score":0.7860000133514404},{"id":"https://openalex.org/keywords/coarse-alignment","display_name":"coarse alignment","score":0.5830000042915344},{"id":"https://openalex.org/keywords/fine-alignment","display_name":"fine alignment","score":0.9509999752044678},{"id":"https://openalex.org/keywords/kalman-filter-estimation","display_name":"Kalman filter estimation","score":0.7559999823570251},{"id":"https://openalex.org/keywords/error-model","display_name":"error model","score":0.4819999933242798}],"concepts":[{"id":"https://openalex.org/C144386022","wikidata":"https://www.wikidata.org/wiki/Q1332997","display_name":"Scale factor (cosmology)","level":5,"score":0.7404999732971191},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.73580002784729},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.6880999803543091},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6757000088691711},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6697999835014343},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5281999707221985},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4700999855995178},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4641999900341034},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4607999920845032},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.45080000162124634},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.44999998807907104},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4034999907016754},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4023999869823456},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3896999955177307},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.388700008392334},{"id":"https://openalex.org/C2777805442","wikidata":"https://www.wikidata.org/wiki/Q3561009","display_name":"Star tracker","level":3,"score":0.37299999594688416},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.33730000257492065},{"id":"https://openalex.org/C204114589","wikidata":"https://www.wikidata.org/wiki/Q4248887","display_name":"Attitude and heading reference system","level":3,"score":0.33149999380111694},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3199000060558319},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.31049999594688416},{"id":"https://openalex.org/C137209882","wikidata":"https://www.wikidata.org/wiki/Q1403517","display_name":"Measurement uncertainty","level":2,"score":0.2847999930381775},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.2818000018596649},{"id":"https://openalex.org/C15476841","wikidata":"https://www.wikidata.org/wiki/Q7295535","display_name":"Rate gyro","level":3,"score":0.2750999927520752},{"id":"https://openalex.org/C19619285","wikidata":"https://www.wikidata.org/wiki/Q196372","display_name":"Observational error","level":2,"score":0.2736999988555908},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.2702000141143799},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2639999985694885},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.26249998807907104},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2596000134944916},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.2574999928474426},{"id":"https://openalex.org/C97126364","wikidata":"https://www.wikidata.org/wiki/Q349669","display_name":"Resonator","level":2,"score":0.2531999945640564},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2526000142097473}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jsen.2025.3612377","doi":"https://doi.org/10.1109/jsen.2025.3612377","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsen.2025.3612377","pdf_url":null,"source":{"id":"https://openalex.org/S189694085","display_name":"IEEE Sensors Journal","issn_l":"1530-437X","issn":["1530-437X","1558-1748","2379-9153"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-c","jufo-2","ki-jl-2","norway-2","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310321027","host_organization_name":"IEEE Sensors Council","host_organization_lineage":["https://openalex.org/P4310321027","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Sensors Council","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 Sensors Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"sustainable_development_goals_aurora":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.7202554941177368}],"study_designs":[],"awards":[{"id":"https://openalex.org/G1742777713","display_name":null,"funder_award_id":"YQ2024E032","funder_id":"https://openalex.org/F4320323085","funder_display_name":"Natural Science Foundation of Heilongjiang Province"},{"id":"https://openalex.org/G2607472012","display_name":null,"funder_award_id":"52571344","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/F4320323085","display_name":"Natural Science Foundation of Heilongjiang Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1499129484","https://openalex.org/W1760072450","https://openalex.org/W1810345596","https://openalex.org/W1972951425","https://openalex.org/W1977457954","https://openalex.org/W2002298843","https://openalex.org/W2069693317","https://openalex.org/W2089417443","https://openalex.org/W2089518317","https://openalex.org/W2140170998","https://openalex.org/W2143213240","https://openalex.org/W2308926094","https://openalex.org/W2555631315","https://openalex.org/W2793200802","https://openalex.org/W2798082346","https://openalex.org/W2800254930","https://openalex.org/W2897742226","https://openalex.org/W2907121711","https://openalex.org/W2991332931","https://openalex.org/W2992527696","https://openalex.org/W2998598333","https://openalex.org/W3090903898","https://openalex.org/W3092647748","https://openalex.org/W3126252655","https://openalex.org/W3156954713","https://openalex.org/W4285506173","https://openalex.org/W4289537654","https://openalex.org/W4389887871","https://openalex.org/W4390187643","https://openalex.org/W4390804656","https://openalex.org/W4390938715","https://openalex.org/W4408100290"],"related_works":[],"abstract_inverted_index":{"Strapdown":[0],"Inertial":[1,12],"Navigation":[2],"Systems":[3],"(SINS)":[4],"provide":[5,96],"autonomous":[6],"navigation":[7,28],"for":[8,65,128],"underwater":[9],"vehicles":[10],"using":[11,186],"Measurement":[13],"Unit":[14],"(IMU)":[15],"data.":[16],"SINS":[17,74],"can":[18],"achieve":[19],"initial":[20],"alignment":[21,38,75,156,173,182],"through":[22,149],"self-calibration":[23,66,170],"technology":[24],"before":[25],"entering":[26],"the":[27,100,104,118,122,138,150,167,175,180,197],"stage.":[29],"However,":[30],"gyroscope":[31],"biases":[32],"and":[33,61,69,102,121,130,137,143,163,171,193],"scale":[34,70,131,144],"factor":[35,132,145],"errors":[36,146],"degrade":[37],"accuracy.":[39],"Hemispherical":[40],"Resonator":[41],"Gyroscope":[42],"(HRG)":[43],"is":[44,114,157,184],"a":[45,78,110,187],"new":[46],"type":[47],"of":[48,67,107,133,141,169],"high-precision":[49],"gyroscope.":[50],"When":[51,77],"operated":[52],"in":[53],"Force-to-Rebalance":[54],"(FTR)":[55],"mode,":[56],"it":[57,83],"exhibits":[58],"low-noise":[59],"characteristics":[60],"supports":[62],"mode":[63,111],"reversal":[64,112],"bias":[68,129,142],"factor,":[71],"thus":[72],"enhancing":[73],"precision.":[76],"certain":[79],"HRG":[80,120],"performs":[81],"self-calibration,":[82],"causes":[84],"output":[85],"interruption":[86],"angular":[87,97],"velocity.":[88],"At":[89],"this":[90],"time,":[91],"other":[92],"HRGs":[93],"need":[94],"to":[95,159],"velocity":[98],"as":[99],"reference":[101],"maintain":[103],"regular":[105],"operation":[106],"SINS.":[108],"Therefore,":[109],"sequence":[113],"designed":[115],"based":[116],"on":[117],"FTR-mode":[119],"4-HRG-SINS":[123,134],"structure.":[124],"The":[125],"error":[126,178],"equations":[127],"were":[135],"established,":[136],"optimal":[139],"estimation":[140],"was":[147],"achieved":[148],"Kalman":[151],"filter":[152],"(KF).":[153],"Then,":[154],"coarse":[155,172],"performed":[158],"obtain":[160],"rough":[161],"attitude":[162],"latitude.":[164],"Finally,":[165,190],"integrating":[166],"results":[168],"with":[174],"novel":[176],"HRG-SINS":[177],"models,":[179],"fine":[181],"scheme":[183],"developed":[185],"backtracking":[188],"framework.":[189],"both":[191],"simulations":[192,195],"semi-physical":[194],"validate":[196],"algorithm\u2019s":[198],"effectiveness.":[199]},"counts_by_year":[],"updated_date":"2026-10-14T16:39:01.820549","created_date":"2025-10-10T00:00:00"}