{"id":"https://openalex.org/W2895421260","doi":"https://doi.org/10.1109/access.2018.2873292","title":"A Robust SINS/VO Integrated Navigation Algorithm Based on RHCKF for Unmanned Ground Vehicles","display_name":"A Robust SINS/VO Integrated Navigation Algorithm Based on RHCKF for Unmanned Ground Vehicles","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2895421260","doi":"https://doi.org/10.1109/access.2018.2873292","mag":"2895421260"},"language":"en","primary_location":{"id":"doi:10.1109/access.2018.2873292","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2873292","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.2018.2873292","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103058832","display_name":"Ya Zhang","orcid":"https://orcid.org/0000-0001-6434-6412"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ya Zhang","raw_affiliation_strings":["School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075958056","display_name":"Fei Yu","orcid":"https://orcid.org/0000-0001-8854-5707"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Yu","raw_affiliation_strings":["School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-8854-5707","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100388803","display_name":"Yanyan Wang","orcid":"https://orcid.org/0000-0001-6801-3068"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanyan Wang","raw_affiliation_strings":["School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100436982","display_name":"Kai Wang","orcid":"https://orcid.org/0000-0002-1171-0281"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Wang","raw_affiliation_strings":["School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":31.6056,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.99257175,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"6","issue":null,"first_page":"56828","last_page":"56838"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9987000226974487,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/odometer","display_name":"Odometer","score":0.8329220414161682},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.7973867654800415},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.6467496156692505},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.609878659248352},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5504601001739502},{"id":"https://openalex.org/keywords/gnss-augmentation","display_name":"GNSS augmentation","score":0.5387812852859497},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5164599418640137},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5100084543228149},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.48491865396499634},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4696991443634033},{"id":"https://openalex.org/keywords/satellite-system","display_name":"Satellite system","score":0.4345770478248596},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.42451798915863037},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40997979044914246},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.40583592653274536},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39279234409332275},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18140023946762085},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.14053380489349365},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.12396153807640076}],"concepts":[{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.8329220414161682},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7973867654800415},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.6467496156692505},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.609878659248352},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5504601001739502},{"id":"https://openalex.org/C166212672","wikidata":"https://www.wikidata.org/wiki/Q2165162","display_name":"GNSS augmentation","level":4,"score":0.5387812852859497},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5164599418640137},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5100084543228149},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.48491865396499634},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4696991443634033},{"id":"https://openalex.org/C2778027091","wikidata":"https://www.wikidata.org/wiki/Q25346003","display_name":"Satellite system","level":4,"score":0.4345770478248596},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.42451798915863037},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40997979044914246},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.40583592653274536},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39279234409332275},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18140023946762085},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.14053380489349365},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.12396153807640076},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2018.2873292","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2873292","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:a4698313d52b43e099db831a2a131269","is_oa":true,"landing_page_url":"https://doaj.org/article/a4698313d52b43e099db831a2a131269","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 6, Pp 56828-56838 (2018)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2018.2873292","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2873292","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7900000214576721}],"awards":[{"id":"https://openalex.org/G1389487637","display_name":null,"funder_award_id":"51709068","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2897932449","display_name":null,"funder_award_id":"51679047","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7719273261","display_name":null,"funder_award_id":"51809056","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1921093919","https://openalex.org/W1964964021","https://openalex.org/W1973699153","https://openalex.org/W2047281995","https://openalex.org/W2115579991","https://openalex.org/W2408559562","https://openalex.org/W2415401520","https://openalex.org/W2473987836","https://openalex.org/W2517325909","https://openalex.org/W2518594393","https://openalex.org/W2523351019","https://openalex.org/W2566401823","https://openalex.org/W2586188710","https://openalex.org/W2592032315","https://openalex.org/W2610419125","https://openalex.org/W2615084852","https://openalex.org/W2681838440","https://openalex.org/W2734883620","https://openalex.org/W2738593872","https://openalex.org/W2750793847","https://openalex.org/W2753352472","https://openalex.org/W2754717832","https://openalex.org/W2761865673","https://openalex.org/W2767552815","https://openalex.org/W2771629423","https://openalex.org/W2789537485","https://openalex.org/W2792252514","https://openalex.org/W2792929195","https://openalex.org/W2793347346","https://openalex.org/W2811065464","https://openalex.org/W6715898754","https://openalex.org/W6749364529","https://openalex.org/W6753241704"],"related_works":["https://openalex.org/W3005892436","https://openalex.org/W3044239796","https://openalex.org/W2356818805","https://openalex.org/W4236994605","https://openalex.org/W2538450875","https://openalex.org/W4388103243","https://openalex.org/W3179847612","https://openalex.org/W2890051265","https://openalex.org/W3005570398","https://openalex.org/W2321661726"],"abstract_inverted_index":{"High":[0],"precision":[1,94],"localization":[2,39,95],"information":[3],"is":[4,28,63,131],"the":[5,12,53,77,82,89,92,102,115,125,151,154,159],"precondition":[6],"of":[7,38,91,101,153],"unmanned":[8,73,97,138],"ground":[9,74,98],"vehicles.":[10],"But":[11],"global":[13],"navigation":[14,49,56,70,85,156],"satellite":[15],"system":[16,50,57],"(GNSS)":[17],"signal":[18,79,161],"turns":[19],"unreliable":[20],"in":[21,65,133,137],"urban":[22],"and":[23,32,58,104,124,142],"forest":[24],"areas":[25],"since":[26],"it":[27],"blocked":[29],"by":[30],"buildings":[31],"trees":[33],"easily,":[34],"which":[35],"causes":[36],"decline":[37],"accuracy.":[40],"In":[41],"order":[42],"to":[43,68,149],"solve":[44],"this":[45,66,134],"problem,":[46],"an":[47],"integrated":[48,84],"based":[51,113],"on":[52,114],"strapdown":[54],"inertial":[55],"binocular":[59],"camera":[60],"visual":[61],"odometer":[62],"utilized":[64],"paper":[67],"provide":[69],"parameters":[71],"for":[72,96],"vehicles":[75,99],"when":[76,158],"GNSS":[78,160],"denies.":[80,162],"However,":[81],"existing":[83],"algorithm":[86,157],"cannot":[87],"meet":[88],"requirement":[90],"high":[93],"because":[100],"uncertainty":[103],"nonlinearity.":[105],"As":[106],"a":[107,109],"result,":[108],"robust":[110],"nonlinear":[111],"filter":[112,123],"<inline-formula":[116],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[117],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[118],"<tex-math":[119],"notation=\"LaTeX\">$H_\\infty":[120],"$":[121],"</tex-math></inline-formula>":[122],"cubature":[126],"Kalman":[127],"filter,":[128],"named":[129],"RHCKF,":[130],"proposed":[132],"paper,":[135],"adopted":[136],"vehicle":[139],"navigation.":[140],"Simulation":[141],"real":[143],"test":[144],"are":[145],"both":[146],"carried":[147],"out":[148],"verify":[150],"effectiveness":[152],"novel":[155]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}