{"id":"https://openalex.org/W4401482763","doi":"https://doi.org/10.1007/s40747-024-01583-0","title":"Integration of attention mechanism and CNN-BiGRU for TDOA/FDOA collaborative mobile underwater multi-scene localization algorithm","display_name":"Integration of attention mechanism and CNN-BiGRU for TDOA/FDOA collaborative mobile underwater multi-scene localization algorithm","publication_year":2024,"publication_date":"2024-08-10","ids":{"openalex":"https://openalex.org/W4401482763","doi":"https://doi.org/10.1007/s40747-024-01583-0"},"language":"en","primary_location":{"id":"doi:10.1007/s40747-024-01583-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-024-01583-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-024-01583-0.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://link.springer.com/content/pdf/10.1007/s40747-024-01583-0.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060723789","display_name":"Duo Peng","orcid":"https://orcid.org/0000-0003-1293-7207"},"institutions":[{"id":"https://openalex.org/I22716506","display_name":"Lanzhou University of Technology","ror":"https://ror.org/03panb555","country_code":"CN","type":"education","lineage":["https://openalex.org/I22716506"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Duo Peng","raw_affiliation_strings":["School of Computer and Communication of Lanzhou University of Technology, Lanzhou, 730050, Gansu, China"],"affiliations":[{"raw_affiliation_string":"School of Computer and Communication of Lanzhou University of Technology, Lanzhou, 730050, Gansu, China","institution_ids":["https://openalex.org/I22716506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100347785","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0002-4500-238X"},"institutions":[{"id":"https://openalex.org/I22716506","display_name":"Lanzhou University of Technology","ror":"https://ror.org/03panb555","country_code":"CN","type":"education","lineage":["https://openalex.org/I22716506"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Shuo Liu","raw_affiliation_strings":["School of Computer and Communication of Lanzhou University of Technology, Lanzhou, 730050, Gansu, China"],"affiliations":[{"raw_affiliation_string":"School of Computer and Communication of Lanzhou University of Technology, Lanzhou, 730050, Gansu, China","institution_ids":["https://openalex.org/I22716506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100980786","display_name":"Kun Xie","orcid":"https://orcid.org/0000-0002-4273-9669"},"institutions":[{"id":"https://openalex.org/I22716506","display_name":"Lanzhou University of Technology","ror":"https://ror.org/03panb555","country_code":"CN","type":"education","lineage":["https://openalex.org/I22716506"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Xie","raw_affiliation_strings":["School of Computer and Communication of Lanzhou University of Technology, Lanzhou, 730050, Gansu, China"],"affiliations":[{"raw_affiliation_string":"School of Computer and Communication of Lanzhou University of Technology, Lanzhou, 730050, Gansu, China","institution_ids":["https://openalex.org/I22716506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5060723789"],"corresponding_institution_ids":["https://openalex.org/I22716506"],"apc_list":{"value":1320,"currency":"GBP","value_usd":1619},"apc_paid":{"value":1320,"currency":"GBP","value_usd":1619},"fwci":1.285,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.78262164,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"10","issue":"6","first_page":"7965","last_page":"7986"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11698","display_name":"Underwater Acoustics Research","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"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/fdoa","display_name":"FDOA","score":0.8807394504547119},{"id":"https://openalex.org/keywords/multilateration","display_name":"Multilateration","score":0.6843289136886597},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6096051931381226},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5941985249519348},{"id":"https://openalex.org/keywords/computational-intelligence","display_name":"Computational intelligence","score":0.5852562785148621},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5676131844520569},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.518005907535553},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3790539801120758},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3594980835914612},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17196983098983765},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12739720940589905}],"concepts":[{"id":"https://openalex.org/C14774633","wikidata":"https://www.wikidata.org/wiki/Q5425288","display_name":"FDOA","level":4,"score":0.8807394504547119},{"id":"https://openalex.org/C104037064","wikidata":"https://www.wikidata.org/wiki/Q1640884","display_name":"Multilateration","level":3,"score":0.6843289136886597},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6096051931381226},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5941985249519348},{"id":"https://openalex.org/C139502532","wikidata":"https://www.wikidata.org/wiki/Q1122090","display_name":"Computational intelligence","level":2,"score":0.5852562785148621},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5676131844520569},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.518005907535553},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3790539801120758},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3594980835914612},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17196983098983765},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12739720940589905},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s40747-024-01583-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-024-01583-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-024-01583-0.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:1dbb6c6518654b9db850dea85d0df260","is_oa":true,"landing_page_url":"https://doaj.org/article/1dbb6c6518654b9db850dea85d0df260","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Complex & Intelligent Systems, Vol 10, Iss 6, Pp 7965-7986 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s40747-024-01583-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-024-01583-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-024-01583-0.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2487368927","display_name":null,"funder_award_id":"62061024","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3177770342","display_name":null,"funder_award_id":"(62265010)","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4384462559","display_name":null,"funder_award_id":"62265010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G898058341","display_name":null,"funder_award_id":"(62061024)","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":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4401482763.pdf"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W2052111957","https://openalex.org/W2189750608","https://openalex.org/W2308002575","https://openalex.org/W2383449848","https://openalex.org/W2475601459","https://openalex.org/W2528351398","https://openalex.org/W2583784334","https://openalex.org/W2769736324","https://openalex.org/W2770858248","https://openalex.org/W2776024871","https://openalex.org/W2777512753","https://openalex.org/W2777658955","https://openalex.org/W2941098205","https://openalex.org/W3014218432","https://openalex.org/W3022887783","https://openalex.org/W3081931468","https://openalex.org/W3106619088","https://openalex.org/W3129171852","https://openalex.org/W3147475075","https://openalex.org/W4229001200","https://openalex.org/W4288708087","https://openalex.org/W4308000044","https://openalex.org/W4308313859","https://openalex.org/W4316661060","https://openalex.org/W4381687430","https://openalex.org/W4382051552","https://openalex.org/W4390973609"],"related_works":["https://openalex.org/W2027655252","https://openalex.org/W4390570342","https://openalex.org/W2776253891","https://openalex.org/W2129263947","https://openalex.org/W2038717975","https://openalex.org/W2370956270","https://openalex.org/W2268218630","https://openalex.org/W2392726999","https://openalex.org/W3170014970","https://openalex.org/W2363281687"],"abstract_inverted_index":{"The":[0,85,248,275,305],"aim":[1],"of":[2,10,35,78,90,94,114,120,132,160,164,171,200,208,229,238,243,255,260,285],"this":[3,40,309],"study":[4],"is":[5,19,72,141,217,302],"to":[6,74,100,143,181,219,252,321],"address":[7],"the":[8,32,36,51,76,91,118,130,139,161,169,176,179,185,198,206,212,221,227,230,235,239,244,280,299],"issue":[9],"TDOA/FDOA":[11,63,79],"measurement":[12],"accuracy":[13,77],"in":[14,26,81,125,148,257,289,295,308,314],"complex":[15,82,126],"underwater":[16,37,83,121,262],"environments,":[17,263],"which":[18],"affected":[20],"by":[21,31],"multipath":[22],"effects":[23],"and":[24,54,64,104,158,210,223,241,271,292,317],"variations":[25],"water":[27],"sound":[28],"velocity":[29,224,242,290,318],"induced":[30],"challenging":[33],"nature":[34],"environment.":[38],"To":[39],"end,":[41],"a":[42,95,133,154,190,253,258,283],"novel":[43],"cooperative":[44],"localisation":[45],"algorithm":[46,71,86,140,177,249,281,306],"has":[47],"been":[48],"developed,":[49],"integrating":[50],"attention":[52,173],"mechanism":[53,174],"convolutional":[55,96],"neural":[56,97],"network-bidirectional":[57],"gated":[58,135],"recurrent":[59,136],"unit":[60,137],"(CNN-BiGRU)":[61],"with":[62],"two-step":[65],"weighted":[66],"least":[67],"squares":[68],"(ImTSWLS).":[69],"This":[70,152,203],"designed":[73],"enhance":[75],"measurements":[80],"environments.":[84,127],"initially":[87],"makes":[88],"use":[89,131],"considerable":[92],"capacity":[93],"network":[98],"(CNN)":[99],"extract":[101],"profound":[102],"spatial":[103],"frequency":[105],"domain":[106],"characteristics":[107],"from":[108],"multimodal":[109],"data.":[110,151],"These":[111],"features":[112,187],"are":[113],"paramount":[115],"importance":[116],"for":[117],"characterisation":[119],"signal":[122,186,214],"propagation,":[123],"particularly":[124],"Subsequently,":[128],"through":[129],"bidirectional":[134],"(BiGRU),":[138],"able":[142],"effectively":[144],"capture":[145],"long-term":[146],"dependencies":[147],"time":[149],"series":[150,254],"enables":[153,178],"more":[155,183],"comprehensive":[156],"analysis":[157],"understanding":[159],"changing":[162],"pattern":[163],"signals":[165],"over":[166],"time.":[167],"Furthermore,":[168],"incorporation":[170],"an":[172],"within":[175],"model":[180],"focus":[182],"on":[184,193],"that":[188,279],"have":[189],"significant":[191],"impact":[192],"localisation,":[194],"while":[195],"simultaneously":[196],"suppressing":[197],"interference":[199],"extraneous":[201],"information.":[202],"further":[204],"enhances":[205],"efficiency":[207],"identifying":[209],"utilising":[211],"key":[213],"features.":[215],"ImTSWLS":[216],"employed":[218],"resolve":[220],"position":[222,240,296,316],"data":[225],"following":[226],"acquisition":[228],"predicted":[231],"TDOA/FDOA,":[232],"thereby":[233],"enabling":[234],"accurate":[236],"estimation":[237,291,297,319],"mobile":[245],"radiation":[246],"source.":[247],"was":[250],"subjected":[251],"tests":[256],"variety":[259],"simulated":[261],"including":[264],"different":[265],"sea":[266],"states,":[267],"target":[268],"motion":[269],"speeds":[270],"base":[272],"station":[273],"configurations.":[274],"experimental":[276],"results":[277],"demonstrate":[278],"exhibits":[282],"deviation":[284],"only":[286],"2.88":[287],"m/s":[288],"2.58":[293],"m":[294],"when":[298],"noise":[300],"level":[301],"20":[303],"dB.":[304],"presented":[307],"paper":[310],"demonstrates":[311],"superior":[312],"performance":[313],"both":[315],"compared":[320],"other":[322],"algorithms.":[323]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-04-24T08:23:43.765630","created_date":"2025-10-10T00:00:00"}
