{"id":"https://openalex.org/W4392050459","doi":"https://doi.org/10.1007/s10846-023-02033-8","title":"GRVINS: Tightly Coupled GNSS-Range-Visual-Inertial System","display_name":"GRVINS: Tightly Coupled GNSS-Range-Visual-Inertial System","publication_year":2024,"publication_date":"2024-02-22","ids":{"openalex":"https://openalex.org/W4392050459","doi":"https://doi.org/10.1007/s10846-023-02033-8"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-023-02033-8","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1007/s10846-023-02033-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-02033-8.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","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":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-02033-8.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030481578","display_name":"Bingxian Lu","orcid":"https://orcid.org/0000-0002-4378-6539"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bing-Xian Lu","raw_affiliation_strings":["Taiwan Swarm Innovation Inc, Tainan, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Taiwan Swarm Innovation Inc, Tainan, Taiwan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084184350","display_name":"Yu-Chung Tsai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu-Chung Tsai","raw_affiliation_strings":["Taiwan Swarm Innovation Inc, Tainan, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Taiwan Swarm Innovation Inc, Tainan, Taiwan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039241771","display_name":"Kuo-Shih Tseng","orcid":"https://orcid.org/0000-0002-7818-5821"},"institutions":[{"id":"https://openalex.org/I22265921","display_name":"National Central University","ror":"https://ror.org/00944ve71","country_code":"TW","type":"education","lineage":["https://openalex.org/I22265921"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Kuo-Shih Tseng","raw_affiliation_strings":["Department of Mathematics, National Central University, Taoyuan, Taiwan"],"raw_orcid":"https://orcid.org/0000-0002-7818-5821","affiliations":[{"raw_affiliation_string":"Department of Mathematics, National Central University, Taoyuan, Taiwan","institution_ids":["https://openalex.org/I22265921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5039241771"],"corresponding_institution_ids":["https://openalex.org/I22265921"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":4.0983,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.93344585,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"110","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9991000294685364,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.8863747715950012},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5975927114486694},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5007789134979248},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4333251714706421},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.41450950503349304},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.36424386501312256},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3555552661418915},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2709503471851349},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.24584490060806274},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2174939513206482},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21171462535858154},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19871938228607178},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.1547398567199707},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1107613742351532},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.0587787926197052}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.8863747715950012},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5975927114486694},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5007789134979248},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4333251714706421},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.41450950503349304},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.36424386501312256},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3555552661418915},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2709503471851349},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.24584490060806274},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2174939513206482},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21171462535858154},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19871938228607178},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.1547398567199707},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1107613742351532},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0587787926197052}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-023-02033-8","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1007/s10846-023-02033-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-02033-8.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","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":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10846-023-02033-8","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1007/s10846-023-02033-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-02033-8.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","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":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1623415719","display_name":null,"funder_award_id":"111-2221-E-008-097","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"}],"funders":[{"id":"https://openalex.org/F4320322795","display_name":"Ministry of Science and Technology, Taiwan","ror":"https://ror.org/02kv4zf79"},{"id":"https://openalex.org/F4320331164","display_name":"National Science and Technology Council","ror":"https://ror.org/00wnb9798"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392050459.pdf"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1970504153","https://openalex.org/W2049750053","https://openalex.org/W2091790851","https://openalex.org/W2109656638","https://openalex.org/W2118223742","https://openalex.org/W2118877769","https://openalex.org/W2127752689","https://openalex.org/W2233828343","https://openalex.org/W2274359774","https://openalex.org/W2320444803","https://openalex.org/W2482726005","https://openalex.org/W2564632156","https://openalex.org/W2598457882","https://openalex.org/W2598706937","https://openalex.org/W2606794968","https://openalex.org/W2736926039","https://openalex.org/W2745859992","https://openalex.org/W2754177129","https://openalex.org/W2761222387","https://openalex.org/W2769498435","https://openalex.org/W2884280313","https://openalex.org/W2884354140","https://openalex.org/W2885984081","https://openalex.org/W3043971245","https://openalex.org/W3090955299","https://openalex.org/W3105567679","https://openalex.org/W3106440972","https://openalex.org/W3125449081","https://openalex.org/W3138764046","https://openalex.org/W3180277944","https://openalex.org/W4285235494","https://openalex.org/W4296335812","https://openalex.org/W4312234397","https://openalex.org/W4313537271","https://openalex.org/W4361301288","https://openalex.org/W6606298547","https://openalex.org/W6639094827"],"related_works":["https://openalex.org/W3206500252","https://openalex.org/W2597513713","https://openalex.org/W4280578603","https://openalex.org/W2803265893","https://openalex.org/W2022870883","https://openalex.org/W4250716077","https://openalex.org/W4247347568","https://openalex.org/W4313886815","https://openalex.org/W2024124515","https://openalex.org/W2773722138"],"abstract_inverted_index":{"Abstract":[0],"Bridge":[1],"inspection":[2,17,28],"is":[3,19,50],"currently":[4],"a":[5,20,58],"labor":[6],"intensive":[7],"task.":[8],"Utilizing":[9],"unmanned":[10],"aerial":[11],"vehicles":[12],"(UAVs)":[13],"to":[14,44,82,104],"assist":[15],"in":[16],"tasks":[18],"promising":[21],"direction.":[22],"However,":[23],"enabling":[24],"UAVs":[25],"for":[26],"autonomous":[27],"involves":[29],"the":[30,51,83,91,94,97,118,134,138],"UAV":[31,38],"state":[32,127],"estimation":[33],"problems.":[34],"Since":[35],"parts":[36],"of":[37,67,96],"sensors":[39],"could":[40],"be":[41],"unavailable,":[42],"how":[43],"estimate":[45],"states":[46],"via":[47],"sensor":[48],"fusion":[49,86],"key.":[52],"In":[53],"this":[54],"paper,":[55],"we":[56],"propose":[57],"tightly-coupled":[59,84],"nonlinear":[60],"optimization-based":[61],"system":[62,79,89,92],"that":[63,133],"integrates":[64],"four":[65,98],"kinds":[66],"sensors:":[68],"camera,":[69],"IMU,":[70],"Ultra-wideband":[71],"(UWB)":[72],"range":[73],"measurements,":[74],"and":[75,88,100,106,109,122,125],"global":[76],"navigation":[77],"satellite":[78],"(GNSS).":[80],"Due":[81],"multi-sensor":[85],"method":[87,136],"design,":[90],"takes":[93],"advantage":[95],"sensors,":[99],"can":[101,115],"seamlessly":[102],"respond":[103],"indoor":[105],"outdoor":[107],"GNSS":[108],"UWB":[110],"loss":[111],"or":[112],"reacquisition.":[113],"It":[114],"effectively":[116],"reduce":[117],"long-term":[119],"trajectory":[120],"drift":[121],"provide":[123],"smooth":[124],"continuous":[126],"estimation.":[128],"The":[129],"experimental":[130],"results":[131],"show":[132],"proposed":[135],"outperforms":[137],"state-of-the-art":[139],"approaches.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}