{"id":"https://openalex.org/W2035518298","doi":"https://doi.org/10.1109/acc.2012.6315511","title":"Particle filter ROV navigation using hydroacoustic position and speed log measurements","display_name":"Particle filter ROV navigation using hydroacoustic position and speed log measurements","publication_year":2012,"publication_date":"2012-06-01","ids":{"openalex":"https://openalex.org/W2035518298","doi":"https://doi.org/10.1109/acc.2012.6315511","mag":"2035518298"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2012.6315511","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2012.6315511","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 American Control Conference (ACC)","raw_type":"proceedings-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/A5074387543","display_name":"Bo Zhao","orcid":"https://orcid.org/0000-0002-7684-7342"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":true,"raw_author_name":"Bo Zhao","raw_affiliation_strings":["Centre for Ships and Ocean Structures (CeSOS), Norwegian University of Science and Technology, Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Centre for Ships and Ocean Structures (CeSOS), Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016429805","display_name":"Mogens Blanke","orcid":"https://orcid.org/0000-0002-9181-9518"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]},{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK","NO"],"is_corresponding":false,"raw_author_name":"M. Blanke","raw_affiliation_strings":["Norwegian University of Science and Technology, Trondheim, Norway","Technical University of Denmark, Kongens Lyngby, Denmark"],"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]},{"raw_affiliation_string":"Technical University of Denmark, Kongens Lyngby, Denmark","institution_ids":["https://openalex.org/I96673099"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078742397","display_name":"Roger Skjetne","orcid":"https://orcid.org/0000-0001-9289-1450"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"R. Skjetne","raw_affiliation_strings":["Department of Marine Technology, Norwegian University of Science and Technology, Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Department of Marine Technology, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5074387543"],"corresponding_institution_ids":["https://openalex.org/I204778367"],"apc_list":null,"apc_paid":null,"fwci":2.9948,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.90260916,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6209","last_page":"6215"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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"}},{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.9997000098228455,"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/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.8827051520347595},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.598842442035675},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.595676064491272},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5227975249290466},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49197813868522644},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4846544861793518},{"id":"https://openalex.org/keywords/remotely-operated-vehicle","display_name":"Remotely operated vehicle","score":0.4837605953216553},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.47179192304611206},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4710150957107544},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4673123061656952},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4587315618991852},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.389911949634552},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3887020945549011},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.35619622468948364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28195035457611084},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.19701576232910156},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1708831787109375},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1382000744342804},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11253082752227783},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09726008772850037}],"concepts":[{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.8827051520347595},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.598842442035675},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.595676064491272},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5227975249290466},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49197813868522644},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4846544861793518},{"id":"https://openalex.org/C64228939","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated vehicle","level":2,"score":0.4837605953216553},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.47179192304611206},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4710150957107544},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4673123061656952},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4587315618991852},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.389911949634552},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3887020945549011},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.35619622468948364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28195035457611084},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.19701576232910156},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1708831787109375},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1382000744342804},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11253082752227783},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09726008772850037},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2012.6315511","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2012.6315511","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1976071645","https://openalex.org/W2023173554","https://openalex.org/W2063139194","https://openalex.org/W2064480843","https://openalex.org/W2077611006","https://openalex.org/W2098613108","https://openalex.org/W2111787305","https://openalex.org/W2160337655","https://openalex.org/W2492811885","https://openalex.org/W3215609958","https://openalex.org/W4251960031","https://openalex.org/W6676780147"],"related_works":["https://openalex.org/W2071768959","https://openalex.org/W2746169463","https://openalex.org/W2927959334","https://openalex.org/W4382394583","https://openalex.org/W2290286193","https://openalex.org/W4386066124","https://openalex.org/W2072275629","https://openalex.org/W1484067751","https://openalex.org/W2079693677","https://openalex.org/W4372267671"],"abstract_inverted_index":{"An":[0],"integrated":[1],"navigation":[2,16,76],"system":[3],"design":[4],"is":[5,18,41,58,99,145,153,174],"presented":[6,154],"for":[7],"an":[8,19],"underwater":[9],"remotely":[10],"operated":[11],"vehicle":[12],"(ROV).":[13],"The":[14,66,147],"available":[15,86],"information":[17,87],"acoustic":[20],"position":[21,63],"measurement":[22,97],"and":[23,35,54,64,132,155],"a":[24,51,55,70,100,114,137,158,180],"Doppler":[25],"log":[26],"speed":[27,96],"measurement.":[28],"Both":[29],"measurements":[30],"are":[31],"studied":[32],"in":[33,73,129],"detail":[34],"modeled":[36],"statistically.":[37],"A":[38],"kinematic":[39,125],"model":[40,126],"assigned":[42],"to":[43,60,80,88],"the":[44,90,95,104,107,118,123,141,150,167,171],"ROV":[45,62,75,124,142],"with":[46],"its":[47],"driving":[48,119],"noise":[49],"from":[50],"Gaussian":[52,115],"mixture,":[53],"particle":[56,71,108,151,172],"filter":[57,72,109,152,173],"suggested":[59],"estimate":[61,139],"velocity.":[65],"advantages":[67],"of":[68,84,103,113,140,149,170,179],"using":[69],"this":[74],"scheme":[77],"are:":[78],"1)":[79],"make":[81],"full":[82],"use":[83,112],"all":[85],"improve":[89],"estimation":[91,168],"performance,":[92],"such":[93],"as":[94,117],"that":[98,166,178],"nonlinear":[101],"function":[102],"states;":[105],"2)":[106],"makes":[110,122],"good":[111,138],"mixture":[116],"noise,":[120],"which":[121],"more":[127],"realistic":[128],"both":[130],"high":[131],"low":[133],"frequency":[134],"ranges;":[135],"3)":[136],"velocity":[143],"vector":[144],"achieved.":[146],"algorithm":[148],"verified":[156],"through":[157],"simulation":[159],"based":[160],"on":[161],"real":[162],"data.":[163],"This":[164],"shows":[165],"performance":[169],"clearly":[175],"better":[176],"than":[177],"Kalman":[181],"filter.":[182]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}