{"id":"https://openalex.org/W2607816783","doi":"https://doi.org/10.1109/access.2017.2697072","title":"Kalman Filter With Dynamical Setting of Optimal Process Noise Covariance","display_name":"Kalman Filter With Dynamical Setting of Optimal Process Noise Covariance","publication_year":2017,"publication_date":"2017-01-01","ids":{"openalex":"https://openalex.org/W2607816783","doi":"https://doi.org/10.1109/access.2017.2697072","mag":"2607816783"},"language":"en","primary_location":{"id":"doi:10.1109/access.2017.2697072","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2017.2697072","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2017.2697072","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073387627","display_name":"Gabriel F. Basso","orcid":"https://orcid.org/0000-0002-1091-3685"},"institutions":[{"id":"https://openalex.org/I169045520","display_name":"Universidade Federal da Para\u00edba","ror":"https://ror.org/00p9vpz11","country_code":"BR","type":"education","lineage":["https://openalex.org/I169045520"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Gabriel F. Basso","raw_affiliation_strings":["LASER\u2013Embedded Systems and Robotics Laboratory, Federal University of Paraiba, Jo\u00e3o Pessoa, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-1091-3685","affiliations":[{"raw_affiliation_string":"LASER\u2013Embedded Systems and Robotics Laboratory, Federal University of Paraiba, Jo\u00e3o Pessoa, Brazil","institution_ids":["https://openalex.org/I169045520"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103991084","display_name":"Thulio Amorim","orcid":null},"institutions":[{"id":"https://openalex.org/I169045520","display_name":"Universidade Federal da Para\u00edba","ror":"https://ror.org/00p9vpz11","country_code":"BR","type":"education","lineage":["https://openalex.org/I169045520"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Thulio Guilherme Silva De Amorim","raw_affiliation_strings":["LASER\u2013Embedded Systems and Robotics Laboratory, Federal University of Paraiba, Jo\u00e3o Pessoa, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASER\u2013Embedded Systems and Robotics Laboratory, Federal University of Paraiba, Jo\u00e3o Pessoa, Brazil","institution_ids":["https://openalex.org/I169045520"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081680179","display_name":"Alisson V. Brito","orcid":"https://orcid.org/0000-0001-5215-443X"},"institutions":[{"id":"https://openalex.org/I169045520","display_name":"Universidade Federal da Para\u00edba","ror":"https://ror.org/00p9vpz11","country_code":"BR","type":"education","lineage":["https://openalex.org/I169045520"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Alisson V. Brito","raw_affiliation_strings":["LASER\u2013Embedded Systems and Robotics Laboratory, Federal University of Paraiba, Jo\u00e3o Pessoa, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASER\u2013Embedded Systems and Robotics Laboratory, Federal University of Paraiba, Jo\u00e3o Pessoa, Brazil","institution_ids":["https://openalex.org/I169045520"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064505240","display_name":"Tiago Nascimento","orcid":"https://orcid.org/0000-0002-9319-2114"},"institutions":[{"id":"https://openalex.org/I169045520","display_name":"Universidade Federal da Para\u00edba","ror":"https://ror.org/00p9vpz11","country_code":"BR","type":"education","lineage":["https://openalex.org/I169045520"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Tiago P. Nascimento","raw_affiliation_strings":["LASER\u2013Embedded Systems and Robotics Laboratory, Federal University of Paraiba, Jo\u00e3o Pessoa, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASER\u2013Embedded Systems and Robotics Laboratory, Federal University of Paraiba, Jo\u00e3o Pessoa, Brazil","institution_ids":["https://openalex.org/I169045520"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5073387627"],"corresponding_institution_ids":["https://openalex.org/I169045520"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.537,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.94155991,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"5","issue":null,"first_page":"8385","last_page":"8393"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9843999743461609,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9842000007629395,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7832459211349487},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.6030374765396118},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6001901626586914},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.5504294037818909},{"id":"https://openalex.org/keywords/ensemble-kalman-filter","display_name":"Ensemble Kalman filter","score":0.5497074127197266},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5233813524246216},{"id":"https://openalex.org/keywords/covariance-intersection","display_name":"Covariance intersection","score":0.5129275321960449},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5125800967216492},{"id":"https://openalex.org/keywords/fast-kalman-filter","display_name":"Fast Kalman filter","score":0.5061196684837341},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4862624406814575},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.47797152400016785},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.46447622776031494},{"id":"https://openalex.org/keywords/covariance-matrix","display_name":"Covariance matrix","score":0.44430387020111084},{"id":"https://openalex.org/keywords/alpha-beta-filter","display_name":"Alpha beta filter","score":0.4428729712963104},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.43566659092903137},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.42090779542922974},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3658747673034668},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2281496226787567},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.20586857199668884},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.08633419871330261},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06526678800582886}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7832459211349487},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.6030374765396118},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6001901626586914},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.5504294037818909},{"id":"https://openalex.org/C79334102","wikidata":"https://www.wikidata.org/wiki/Q3072268","display_name":"Ensemble Kalman filter","level":4,"score":0.5497074127197266},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5233813524246216},{"id":"https://openalex.org/C83042196","wikidata":"https://www.wikidata.org/wiki/Q5178898","display_name":"Covariance intersection","level":4,"score":0.5129275321960449},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5125800967216492},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.5061196684837341},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4862624406814575},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.47797152400016785},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.46447622776031494},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.44430387020111084},{"id":"https://openalex.org/C11588082","wikidata":"https://www.wikidata.org/wiki/Q4735154","display_name":"Alpha beta filter","level":5,"score":0.4428729712963104},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.43566659092903137},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.42090779542922974},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3658747673034668},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2281496226787567},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.20586857199668884},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.08633419871330261},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06526678800582886},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2017.2697072","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2017.2697072","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:421f2c91b03547b295d34947551221fe","is_oa":true,"landing_page_url":"https://doaj.org/article/421f2c91b03547b295d34947551221fe","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 5, Pp 8385-8393 (2017)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2017.2697072","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2017.2697072","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321091","display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","ror":"https://ror.org/00x0ma614"},{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W6232081","https://openalex.org/W1546628974","https://openalex.org/W1953225086","https://openalex.org/W1998473016","https://openalex.org/W2011418118","https://openalex.org/W2018065034","https://openalex.org/W2021624862","https://openalex.org/W2040378481","https://openalex.org/W2047174621","https://openalex.org/W2062803420","https://openalex.org/W2103632679","https://openalex.org/W2109375023","https://openalex.org/W2113792082","https://openalex.org/W2122246449","https://openalex.org/W2128966049","https://openalex.org/W2140207729","https://openalex.org/W2140242774","https://openalex.org/W2156064084","https://openalex.org/W2276875340","https://openalex.org/W2321355764","https://openalex.org/W2523725998","https://openalex.org/W2539735634","https://openalex.org/W6727072083"],"related_works":["https://openalex.org/W3190919334","https://openalex.org/W2150837402","https://openalex.org/W2263628162","https://openalex.org/W4206024512","https://openalex.org/W4324121876","https://openalex.org/W2742858738","https://openalex.org/W4386026724","https://openalex.org/W4221126147","https://openalex.org/W2491009754","https://openalex.org/W2377206439"],"abstract_inverted_index":{"We":[0,21,120,136],"propose":[1],"a":[2,14,77,139,152],"dynamical":[3],"way":[4],"to":[5,24],"set":[6,101],"the":[7,26,31,35,43,54,58,68,83,88,102,107,112,116,149],"process":[8,60],"error":[9],"covariance":[10],"matrix":[11],"(Q)":[12],"for":[13,30,82,91,106],"constant":[15],"velocity":[16],"(CV)":[17],"model":[18,96],"Kalman":[19,84],"filter.":[20,155],"are":[22,61],"able":[23],"achieve":[25,73],"best":[27,89,103,150],"possible":[28,104,151],"solution":[29],"estimated":[32],"state,":[33],"in":[34],"sense":[36],"of":[37,57,67,95,115],"forecast":[38],"error,":[39],"while":[40],"significantly":[41],"reducing":[42],"convergence":[44],"time":[45],"at":[46],"no":[47,64],"significant":[48],"computational":[49],"cost.":[50],"No":[51],"assumptions":[52],"regarding":[53],"statistical":[55],"nature":[56],"observed":[59],"made":[62],"and":[63,99,132,143],"prior":[65],"knowledge":[66],"system":[69],"is":[70],"required.":[71],"To":[72],"this,":[74],"we":[75,86],"adopt":[76],"recently":[78],"proposed":[79],"performance":[80],"index":[81],"filter,":[85],"map":[87],"Q":[90,105],"an":[92],"ample":[93],"range":[94],"deviations":[97],"(accelerations)":[98],"dynamically":[100],"CV":[108,154],"filter":[109,146],"by":[110,125],"identifying":[111],"average":[113],"acceleration":[114],"measured":[117],"signal":[118],"online.":[119],"demonstrate":[121],"our":[122,145],"scheme":[123],"ability":[124],"filtering":[126],"simulated":[127],"trajectories":[128],"with":[129,148],"low,":[130],"medium,":[131],"high":[133],"signal-to-noise":[134],"ratios.":[135],"also":[137],"track":[138],"real":[140],"erratic":[141],"target":[142],"compare":[144],"prediction":[147],"posteriori":[153]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}