{"id":"https://openalex.org/W1988166371","doi":"https://doi.org/10.1080/00207729808929604","title":"Developing a sensor-based underwater navigation system","display_name":"Developing a sensor-based underwater navigation system","publication_year":1998,"publication_date":"1998-10-01","ids":{"openalex":"https://openalex.org/W1988166371","doi":"https://doi.org/10.1080/00207729808929604","mag":"1988166371"},"language":"en","primary_location":{"id":"doi:10.1080/00207729808929604","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207729808929604","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Systems Science","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/A5042624995","display_name":"Robert G. Smith","orcid":"https://orcid.org/0000-0001-8967-8114"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"ROBERT SMITH","raw_affiliation_strings":["\n                   \n               Robotics Group Department of Engineering Science, University of Oxford, Parks Road, UK E-mail: (robert, as, pjp)@robots.ox.ac.uk.;\n                   \n               Silsoe Research Institute, Bedfordshire, UK E-mail: andy.-frost@bbsrc.ac.uk","Robotics Group Department of Engineering Science , University of Oxford , Parks Road, UK E-mail: (robert, as, pjp)@robots.ox.ac.uk. ; Silsoe Research Institute , Bedfordshire, UK E-mail: andy.-frost@bbsrc.ac.uk"],"affiliations":[{"raw_affiliation_string":"\n                   \n               Robotics Group Department of Engineering Science, University of Oxford, Parks Road, UK E-mail: (robert, as, pjp)@robots.ox.ac.uk.;\n                   \n               Silsoe Research Institute, Bedfordshire, UK E-mail: andy.-frost@bbsrc.ac.uk","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Robotics Group Department of Engineering Science , University of Oxford , Parks Road, UK E-mail: (robert, as, pjp)@robots.ox.ac.uk. ; Silsoe Research Institute , Bedfordshire, UK E-mail: andy.-frost@bbsrc.ac.uk","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024237494","display_name":"Andrew Stevens","orcid":"https://orcid.org/0000-0002-8474-8483"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"ANDREW STEVENS","raw_affiliation_strings":["\n                   \n               Robotics Group Department of Engineering Science, University of Oxford, Parks Road, UK E-mail: (robert, as, pjp)@robots.ox.ac.uk","Robotics Group Department of Engineering Science , University of Oxford , Parks Road, UK E-mail: (robert, as, pjp)@robots.ox.ac.uk"],"affiliations":[{"raw_affiliation_string":"\n                   \n               Robotics Group Department of Engineering Science, University of Oxford, Parks Road, UK E-mail: (robert, as, pjp)@robots.ox.ac.uk","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Robotics Group Department of Engineering Science , University of Oxford , Parks Road, UK E-mail: (robert, as, pjp)@robots.ox.ac.uk","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023133805","display_name":"A.R. Frost","orcid":null},"institutions":[{"id":"https://openalex.org/I4210098105","display_name":"Silsoe Research Institute","ror":"https://ror.org/00yyp2526","country_code":"GB","type":"facility","lineage":["https://openalex.org/I2799693246","https://openalex.org/I4210087105","https://openalex.org/I4210098105"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"ANDY FROST","raw_affiliation_strings":["\n                   \n               Silsoe Research Institute, Bedfordshire, UK E-mail: andy.-frost@bbsrc.ac.uk","Silsoe Research Institute , Bedfordshire, UK E-mail: andy.-frost@bbsrc.ac.uk"],"affiliations":[{"raw_affiliation_string":"\n                   \n               Silsoe Research Institute, Bedfordshire, UK E-mail: andy.-frost@bbsrc.ac.uk","institution_ids":["https://openalex.org/I4210098105"]},{"raw_affiliation_string":"Silsoe Research Institute , Bedfordshire, UK E-mail: andy.-frost@bbsrc.ac.uk","institution_ids":["https://openalex.org/I4210098105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113791185","display_name":"Penny Probert","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"PENNY PROBERT","raw_affiliation_strings":["\n                   \n               Robotics Group Department of Engineering Science, University of Oxford, Parks Road, UK E-mail: (robert, as, pjp)@robots.ox.ac.uk","Robotics Group Department of Engineering Science , University of Oxford , Parks Road, UK E-mail: (robert, as, pjp)@robots.ox.ac.uk"],"affiliations":[{"raw_affiliation_string":"\n                   \n               Robotics Group Department of Engineering Science, University of Oxford, Parks Road, UK E-mail: (robert, as, pjp)@robots.ox.ac.uk","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Robotics Group Department of Engineering Science , University of Oxford , Parks Road, UK E-mail: (robert, as, pjp)@robots.ox.ac.uk","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5042624995"],"corresponding_institution_ids":["https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":2.0802,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.83627685,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"29","issue":"10","first_page":"1145","last_page":"1155"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.996399998664856,"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":0.996399998664856,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9785000085830688,"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/T11698","display_name":"Underwater Acoustics Research","score":0.9781000018119812,"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/sonar","display_name":"Sonar","score":0.915902853012085},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.6272169947624207},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5331276059150696},{"id":"https://openalex.org/keywords/compass","display_name":"Compass","score":0.5059279799461365},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45304301381111145},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4496304988861084},{"id":"https://openalex.org/keywords/inclinometer","display_name":"Inclinometer","score":0.440133661031723},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.42704036831855774},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4224306643009186},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4036642014980316},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36788350343704224},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3583504259586334},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12737593054771423},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.09614673256874084}],"concepts":[{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.915902853012085},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.6272169947624207},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5331276059150696},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.5059279799461365},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45304301381111145},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4496304988861084},{"id":"https://openalex.org/C158105764","wikidata":"https://www.wikidata.org/wiki/Q827664","display_name":"Inclinometer","level":2,"score":0.440133661031723},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.42704036831855774},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4224306643009186},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4036642014980316},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36788350343704224},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3583504259586334},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12737593054771423},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.09614673256874084},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/00207729808929604","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207729808929604","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Systems Science","raw_type":"journal-article"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:d3190868-c132-48ea-b082-92dd224321d5","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:d3190868-c132-48ea-b082-92dd224321d5","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symplectic Elements at Oxford","raw_type":"Journal article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.7799999713897705,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1497564480","https://openalex.org/W1590684588","https://openalex.org/W1858798903","https://openalex.org/W1967589529","https://openalex.org/W1973785050","https://openalex.org/W1984010993","https://openalex.org/W2048108554","https://openalex.org/W2094640936","https://openalex.org/W2108616595","https://openalex.org/W2114593739","https://openalex.org/W2155449055","https://openalex.org/W2256481608","https://openalex.org/W2571050459","https://openalex.org/W3038698521","https://openalex.org/W3187867541"],"related_works":["https://openalex.org/W2021352207","https://openalex.org/W2371524298","https://openalex.org/W2897535180","https://openalex.org/W2513006910","https://openalex.org/W2059227848","https://openalex.org/W2365960548","https://openalex.org/W2373462725","https://openalex.org/W2374497654","https://openalex.org/W1980214154","https://openalex.org/W2505159293"],"abstract_inverted_index":{"The":[0,63,120],"development":[1],"and":[2,32,43,54,78,126],"verification":[3],"of":[4,39,111,142],"a":[5,14,60,79,117,123,129,134],"sensor-based":[6],"underwater":[7],"navigation":[8],"system":[9,115],"are":[10],"described.":[11],"We":[12,101,107],"form":[13],"basic":[15],"vehicle":[16,121],"model,":[17],"which":[18,146],"relies":[19],"on":[20],"few":[21],"parameters.":[22],"This":[23],"model":[24,96],"is":[25,151],"fused":[26],"with":[27,87,98,116],"inclinometer,":[28],"compass,":[29],"triaxial":[30],"gyroscope":[31],"sonar":[33,47,71,95,135,150],"data":[34],"to":[35,52,73,82,133],"produce":[36,55],"an":[37],"estimate":[38],"the":[40,66,84,88,109,113,140,149],"vehicle's":[41],"orientation":[42],"position.":[44],"A":[45],"dedicated":[46],"unit":[48,64,81],"has":[49],"been":[50],"developed,":[51],"track":[53],"continuous":[56],"range":[57,67],"information":[58],"from":[59],"passive":[61],"target.":[62,89],"uses":[65],"differential":[68],"between":[69,153],"multiple":[70],"transducers":[72,85],"obtain":[74],"target":[75],"bearing":[76],"information,":[77],"pan-and-tilt":[80],"keep":[83],"aligned":[86],"In":[90],"this":[91],"paper,":[92],"we":[93,138],"compare":[94],"predictions":[97],"experimental":[99],"data.":[100],"also":[102],"present":[103],"sensor":[104,144],"noise":[105],"characteristics.":[106],"show":[108],"results":[110],"combining":[112],"localization":[114],"simple":[118],"controller.":[119],"performs":[122],"'stand-off'":[124],"experiment":[125],"moves":[127],"in":[128],"predetermined":[130],"path":[131],"relative":[132],"feature.":[136],"Finally,":[137],"discuss":[139],"problem":[141],"missing":[143],"data,":[145],"arises":[147],"when":[148],"changing":[152],"targets.":[154]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}