{"id":"https://openalex.org/W7204114841","doi":"https://doi.org/10.1109/jsen.2026.3724495","title":"Analytical Covariance Propagation for DVL-Aided Loosely Coupled SINS Under Attitude Uncertainty","display_name":"Analytical Covariance Propagation for DVL-Aided Loosely Coupled SINS Under Attitude Uncertainty","publication_year":2026,"publication_date":"2026-08-24","ids":{"openalex":"https://openalex.org/W7204114841","doi":"https://doi.org/10.1109/jsen.2026.3724495"},"language":"en","primary_location":{"id":"doi:10.1109/jsen.2026.3724495","doi":"https://doi.org/10.1109/jsen.2026.3724495","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsen.2026.3724495","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","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2601.19509","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013784616","display_name":"Jin Lin Huang","orcid":"https://orcid.org/0000-0003-1309-8329","observed_orcids":["https://orcid.org/0000-0003-1309-8329"]},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Huang","raw_affiliation_strings":["Zhejiang University"],"raw_orcid":"https://orcid.org/0000-0003-1309-8329","affiliations":[{"raw_affiliation_string":"Zhejiang University","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055056691","display_name":"Zichen Liu","orcid":"https://orcid.org/0000-0001-7345-911X","observed_orcids":["https://orcid.org/0000-0001-7345-911X"]},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zichen Liu","raw_affiliation_strings":["Zhejiang University"],"raw_orcid":"https://orcid.org/0000-0001-7345-911X","affiliations":[{"raw_affiliation_string":"Zhejiang University","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007305849","display_name":"Haoda Li","orcid":"https://orcid.org/0009-0006-2274-3077","observed_orcids":["https://orcid.org/0009-0006-2274-3077"]},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoda Li","raw_affiliation_strings":["Zhejiang University"],"raw_orcid":"https://orcid.org/0009-0006-2274-3077","affiliations":[{"raw_affiliation_string":"Zhejiang University","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058665181","display_name":"Zhikun Wang","orcid":"https://orcid.org/0000-0003-1366-0596","observed_orcids":["https://orcid.org/0000-0003-1366-0596"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhikun Wang","raw_affiliation_strings":["Donghai Laboratory"],"raw_orcid":"https://orcid.org/0000-0003-1366-0596","affiliations":[{"raw_affiliation_string":"Donghai Laboratory","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5147940592","display_name":"Yuan Zhao","orcid":"https://orcid.org/0009-0006-0234-7317","observed_orcids":["https://orcid.org/0009-0006-0234-7317"]},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Zhao","raw_affiliation_strings":["Zhejiang University"],"raw_orcid":"https://orcid.org/0009-0006-0234-7317","affiliations":[{"raw_affiliation_string":"Zhejiang University","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102561360","display_name":"Xianyu Peng","orcid":"https://orcid.org/0009-0004-9757-3258","observed_orcids":["https://orcid.org/0009-0004-9757-3258"]},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianyu Peng","raw_affiliation_strings":["Zhejiang University"],"raw_orcid":"https://orcid.org/0009-0004-9757-3258","affiliations":[{"raw_affiliation_string":"Zhejiang University","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066078386","display_name":"\u4e8e\u6c38\u7fa4","orcid":"https://orcid.org/0009-0001-0354-7891","observed_orcids":["https://orcid.org/0009-0001-0354-7891"]},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongqun Yu","raw_affiliation_strings":["Zhejiang University"],"raw_orcid":"https://orcid.org/0009-0001-0354-7891","affiliations":[{"raw_affiliation_string":"Zhejiang University","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100383106","display_name":"Ying Chen","orcid":"https://orcid.org/0000-0003-1285-556X","observed_orcids":["https://orcid.org/0000-0003-1285-556X"]},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Chen","raw_affiliation_strings":["Zhejiang University"],"raw_orcid":"https://orcid.org/0000-0003-1285-556X","affiliations":[{"raw_affiliation_string":"Zhejiang University","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":1.9859,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.79516009,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"26","issue":"19","first_page":"29577","last_page":"29586"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9731000065803528,"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":0.9731000065803528,"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":0.020899999886751175,"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":0.0027000000700354576,"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/doppler-velocity-log","display_name":"Doppler velocity log","score":0.8519999980926514},{"id":"https://openalex.org/keywords/attitude-uncertainty","display_name":"attitude uncertainty","score":0.9819999933242798},{"id":"https://openalex.org/keywords/underwater-navigation","display_name":"underwater navigation","score":0.4519999921321869},{"id":"https://openalex.org/keywords/positioning-error","display_name":"positioning error","score":0.47600001096725464}],"concepts":[{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.5266000032424927},{"id":"https://openalex.org/C123614077","wikidata":"https://www.wikidata.org/wiki/Q1364905","display_name":"Propagation of uncertainty","level":2,"score":0.4797999858856201},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4661000072956085},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3894999921321869},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.3873000144958496},{"id":"https://openalex.org/C137209882","wikidata":"https://www.wikidata.org/wiki/Q1403517","display_name":"Measurement uncertainty","level":2,"score":0.3560999929904938},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34689998626708984},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.33320000767707825},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3224000036716461},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.31709998846054077},{"id":"https://openalex.org/C8272713","wikidata":"https://www.wikidata.org/wiki/Q176737","display_name":"Stochastic process","level":2,"score":0.2948000133037567},{"id":"https://openalex.org/C2988922011","wikidata":"https://www.wikidata.org/wiki/Q5449244","display_name":"Filtering theory","level":2,"score":0.2921000123023987},{"id":"https://openalex.org/C104267543","wikidata":"https://www.wikidata.org/wiki/Q208163","display_name":"Signal processing","level":3,"score":0.27720001339912415},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2745000123977661},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.2700999975204468},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.26910001039505005},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.2678000032901764},{"id":"https://openalex.org/C197055811","wikidata":"https://www.wikidata.org/wiki/Q207522","display_name":"Probability density function","level":2,"score":0.2667999863624573},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.2623000144958496},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.25270000100135803},{"id":"https://openalex.org/C158457486","wikidata":"https://www.wikidata.org/wiki/Q17104301","display_name":"Multidimensional systems","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/jsen.2026.3724495","doi":"https://doi.org/10.1109/jsen.2026.3724495","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsen.2026.3724495","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"},{"id":"pmh:oai:arXiv.org:2601.19509","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2601.19509","pdf_url":"https://arxiv.org/pdf/2601.19509","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":"doi:10.48550/arxiv.2601.19509","doi":"https://doi.org/10.48550/arxiv.2601.19509","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2601.19509","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":"pmh:oai:arXiv.org:2601.19509","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2601.19509","pdf_url":"https://arxiv.org/pdf/2601.19509","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"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7204114841.pdf","grobid_xml":"https://content.openalex.org/works/W7204114841.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W1531532259","https://openalex.org/W1564768010","https://openalex.org/W1956033670","https://openalex.org/W1969142081","https://openalex.org/W1973861388","https://openalex.org/W1983879820","https://openalex.org/W2036882527","https://openalex.org/W2063139194","https://openalex.org/W2108905276","https://openalex.org/W2123487311","https://openalex.org/W2124954170","https://openalex.org/W2140428171","https://openalex.org/W2330146556","https://openalex.org/W2336416123","https://openalex.org/W2589658453","https://openalex.org/W2623945001","https://openalex.org/W2989921246","https://openalex.org/W3026174058","https://openalex.org/W3031810938","https://openalex.org/W3046016151","https://openalex.org/W3082243195","https://openalex.org/W3107889188","https://openalex.org/W3184506324","https://openalex.org/W3215914122","https://openalex.org/W4283729577","https://openalex.org/W4285302780","https://openalex.org/W4308547742","https://openalex.org/W4321793256","https://openalex.org/W4382929958","https://openalex.org/W4387197207","https://openalex.org/W4388543725","https://openalex.org/W4389262815","https://openalex.org/W4390938715","https://openalex.org/W4391853736","https://openalex.org/W4392405449","https://openalex.org/W4402401826","https://openalex.org/W4403463418","https://openalex.org/W4404367631","https://openalex.org/W4406610701","https://openalex.org/W4408093977","https://openalex.org/W4416158523","https://openalex.org/W4416368661","https://openalex.org/W7139962265"],"related_works":["https://openalex.org/W2047531448","https://openalex.org/W4312828191","https://openalex.org/W4211133110","https://openalex.org/W7212036040","https://openalex.org/W2623945001","https://openalex.org/W4405314106","https://openalex.org/W4385489752","https://openalex.org/W2741195356","https://openalex.org/W4399501141","https://openalex.org/W2036882527"],"abstract_inverted_index":{"In":[0],"loosely":[1],"coupled":[2],"strapdown":[3],"inertial":[4],"navigation":[5,19],"system/Doppler":[6],"velocity":[7,14,32],"log":[8],"(SINS/DVL)":[9],"integration,":[10],"the":[11,18,22,30,61,66,70,75,85,112,120,125,130,138,143],"body-frame":[12,71],"DVL":[13,63,72,159],"is":[15],"projected":[16,31,62],"into":[17],"frame":[20],"using":[21],"SINS-computed":[23],"attitude.":[24],"Attitude":[25],"uncertainty":[26],"consequently":[27],"affects":[28],"both":[29],"observation":[33,56],"and":[34,78,97,108,116,146,155,171],"its":[35],"associated":[36],"measurement":[37],"covariance.":[38],"This":[39],"paper":[40],"develops":[41],"an":[42],"analytical":[43],"covariance":[44,67,73,179],"propagation":[45],"(ACP)":[46],"method":[47],"that":[48],"treats":[49],"these":[50],"two":[51],"effects":[52],"consistently.":[53],"The":[54],"attitude-error-aware":[55],"model":[57],"represents":[58],"perturbations":[59],"in":[60,137],"velocity,":[64],"whereas":[65],"construction":[68],"propagates":[69],"at":[74],"matrix":[76],"level":[77],"adds":[79],"a":[80,98,163,172],"closed-form":[81],"term":[82],"derived":[83],"from":[84],"predicted":[86],"attitude-error":[87],"covariance,":[88],"rather":[89],"than":[90],"directly":[91],"rotating":[92],"component-wise":[93],"standard":[94],"deviations.":[95],"Simulation":[96],"controlled":[99],"surface-water":[100],"field":[101,139],"experiment":[102],"compare":[103],"ACP":[104,118,141,161],"with":[105],"conventional":[106],"SINS/DVL":[107],"adaptive-covariance":[109],"benchmarks.":[110],"For":[111],"evaluated":[113],"data":[114],"sets":[115],"parameterizations,":[117],"yields":[119],"lowest":[121],"position-error":[122],"metrics":[123],"among":[124],"compared":[126],"methods.":[127],"Relative":[128],"to":[129,176],"variational":[131],"Bayesian":[132],"adaptive":[133],"Kalman":[134],"filter":[135],"(VBAKF)":[136],"experiment,":[140],"reduces":[142],"northward,":[144],"eastward,":[145],"downward":[147],"position":[148],"root-mean-square":[149],"errors":[150],"(RMSEs)":[151],"by":[152],"48.5%,":[153],"55.0%,":[154],"74.8%,":[156],"respectively.":[157],"Beyond":[158],"aiding,":[160],"provides":[162],"transferable":[164],"covariance-construction":[165],"principle":[166],"for":[167],"attitude-dependent":[168],"vector-measurement":[169],"fusion":[170],"physically":[173],"interpretable":[174],"alternative":[175],"heuristic":[177],"frame-dependent":[178],"assignment.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-11-10T11:39:43.021295","created_date":"2026-08-25T00:00:00"}
