{"id":"https://openalex.org/W4392195522","doi":"https://doi.org/10.1016/j.robot.2024.104675","title":"A fast and stable GNSS-LiDAR-inertial state estimator from coarse to fine by iterated error-state Kalman filter","display_name":"A fast and stable GNSS-LiDAR-inertial state estimator from coarse to fine by iterated error-state Kalman filter","publication_year":2024,"publication_date":"2024-02-27","ids":{"openalex":"https://openalex.org/W4392195522","doi":"https://doi.org/10.1016/j.robot.2024.104675"},"language":"en","primary_location":{"id":"doi:10.1016/j.robot.2024.104675","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.robot.2024.104675","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"},"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":"https://openalex.org/A5047877504","display_name":"Jixin Gao","orcid":"https://orcid.org/0009-0005-3535-2107"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jixin Gao","raw_affiliation_strings":["Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao 266000, PR China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao 266000, PR China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021091666","display_name":"Jianjun Sha","orcid":"https://orcid.org/0000-0003-1675-4678"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianjun Sha","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, PR China","Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao 266000, PR China"],"raw_orcid":"https://orcid.org/0000-0003-1675-4678","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, PR China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao 266000, PR China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052245256","display_name":"Yanheng Wang","orcid":"https://orcid.org/0000-0001-6090-3234"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanheng Wang","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, PR China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, PR China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101688509","display_name":"Xiangwei Wang","orcid":"https://orcid.org/0009-0005-6582-2480"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangwei Wang","raw_affiliation_strings":["Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao 266000, PR China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao 266000, PR China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066760492","display_name":"Cong Tan","orcid":"https://orcid.org/0000-0001-6603-421X"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cong Tan","raw_affiliation_strings":["Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao 266000, PR China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao 266000, PR China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5021091666"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":{"value":3020,"currency":"USD","value_usd":3020},"apc_paid":null,"fwci":15.0271,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.98389334,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"175","issue":null,"first_page":"104675","last_page":"104675"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9990000128746033,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9962999820709229,"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/computer-science","display_name":"Computer science","score":0.8564795255661011},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.8272991180419922},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.7825108766555786},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6738516092300415},{"id":"https://openalex.org/keywords/iterated-function","display_name":"Iterated function","score":0.6206777095794678},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5542669296264648},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5259169340133667},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.46482232213020325},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4621945023536682},{"id":"https://openalex.org/keywords/state-estimator","display_name":"State estimator","score":0.43924224376678467},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39509499073028564},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32354748249053955},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.19389408826828003},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.1819702386856079},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.13777223229408264},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.11355584859848022},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10013777017593384}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8564795255661011},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.8272991180419922},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7825108766555786},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6738516092300415},{"id":"https://openalex.org/C140479938","wikidata":"https://www.wikidata.org/wiki/Q5254619","display_name":"Iterated function","level":2,"score":0.6206777095794678},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5542669296264648},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5259169340133667},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.46482232213020325},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4621945023536682},{"id":"https://openalex.org/C2984536560","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State estimator","level":3,"score":0.43924224376678467},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39509499073028564},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32354748249053955},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.19389408826828003},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.1819702386856079},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.13777223229408264},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.11355584859848022},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10013777017593384},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.robot.2024.104675","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.robot.2024.104675","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.46000000834465027}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W2016456873","https://openalex.org/W2281196926","https://openalex.org/W2534225927","https://openalex.org/W2745859992","https://openalex.org/W2766373678","https://openalex.org/W2904367728","https://openalex.org/W2927638312","https://openalex.org/W2999936106","https://openalex.org/W3034539604","https://openalex.org/W3092317128","https://openalex.org/W3095662029","https://openalex.org/W3110870077","https://openalex.org/W3133648073","https://openalex.org/W3138764046","https://openalex.org/W3144155561","https://openalex.org/W3217635941","https://openalex.org/W4210423514","https://openalex.org/W4221148800","https://openalex.org/W4223417839","https://openalex.org/W4285149456","https://openalex.org/W4285512293","https://openalex.org/W4292544413","https://openalex.org/W4320002790","https://openalex.org/W4360595135","https://openalex.org/W4378364813","https://openalex.org/W4379930428","https://openalex.org/W6604479940","https://openalex.org/W6697304529","https://openalex.org/W6702924828","https://openalex.org/W6758269925","https://openalex.org/W6761132288","https://openalex.org/W6769678229","https://openalex.org/W6771792830","https://openalex.org/W6773243181","https://openalex.org/W6777345932","https://openalex.org/W6780411392","https://openalex.org/W6785716465","https://openalex.org/W6786999926","https://openalex.org/W6790534280","https://openalex.org/W6810002029","https://openalex.org/W6844241461","https://openalex.org/W6851347726","https://openalex.org/W6852721933","https://openalex.org/W6853330676"],"related_works":["https://openalex.org/W4386936491","https://openalex.org/W3007931018","https://openalex.org/W3110195467","https://openalex.org/W3033823235","https://openalex.org/W4391128647","https://openalex.org/W2881093137","https://openalex.org/W4386787199","https://openalex.org/W4384916587","https://openalex.org/W2163330330","https://openalex.org/W1982137911"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":2}],"updated_date":"2026-02-06T02:01:19.302388","created_date":"2025-10-10T00:00:00"}
