{"id":"https://openalex.org/W3011099149","doi":"https://doi.org/10.1109/access.2020.2980016","title":"Cascaded Kalman Filtering-Based Attitude and Gyro Bias Estimation With Efficient Compensation of External Accelerations","display_name":"Cascaded Kalman Filtering-Based Attitude and Gyro Bias Estimation With Efficient Compensation of External Accelerations","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3011099149","doi":"https://doi.org/10.1109/access.2020.2980016","mag":"3011099149"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2980016","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2980016","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09032181.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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://ieeexplore.ieee.org/ielx7/6287639/8948470/09032181.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030596244","display_name":"Muhammad Azeem Javed","orcid":"https://orcid.org/0000-0001-7852-9877"},"institutions":[{"id":"https://openalex.org/I207789805","display_name":"Lahore University of Management Sciences","ror":"https://ror.org/05b5x4a35","country_code":"PK","type":"education","lineage":["https://openalex.org/I207789805"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Muhammad Azeem Javed","raw_affiliation_strings":["Department of Electrical Engineering, Lahore University of Management Sciences, Lahore, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Lahore University of Management Sciences, Lahore, Pakistan","institution_ids":["https://openalex.org/I207789805"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006411139","display_name":"Muhammad Tahir","orcid":"https://orcid.org/0000-0001-7162-568X"},"institutions":[{"id":"https://openalex.org/I207789805","display_name":"Lahore University of Management Sciences","ror":"https://ror.org/05b5x4a35","country_code":"PK","type":"education","lineage":["https://openalex.org/I207789805"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Muhammad Tahir","raw_affiliation_strings":["Department of Electrical Engineering, Lahore University of Management Sciences, Lahore, Pakistan"],"raw_orcid":"https://orcid.org/0000-0001-7162-568X","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Lahore University of Management Sciences, Lahore, Pakistan","institution_ids":["https://openalex.org/I207789805"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028755675","display_name":"Khurram Ali","orcid":"https://orcid.org/0000-0003-1470-6373"},"institutions":[{"id":"https://openalex.org/I16076960","display_name":"COMSATS University Islamabad","ror":"https://ror.org/00nqqvk19","country_code":"PK","type":"education","lineage":["https://openalex.org/I16076960"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Khurram Ali","raw_affiliation_strings":["Department of Electrical and Computer Engineering, COMSATS University Islamabad, Lahore Campus, Lahore, Pakistan"],"raw_orcid":"https://orcid.org/0000-0003-1470-6373","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, COMSATS University Islamabad, Lahore Campus, Lahore, Pakistan","institution_ids":["https://openalex.org/I16076960"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"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":14.6837,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.98177037,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"50022","last_page":"50035"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":1.0,"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/T11325","display_name":"Inertial Sensor and Navigation","score":1.0,"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":0.9957000017166138,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9918000102043152,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.8144340515136719},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7722095847129822},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.768856406211853},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7472392916679382},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7419041395187378},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.7371003031730652},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6205928921699524},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6016452312469482},{"id":"https://openalex.org/keywords/attitude-and-heading-reference-system","display_name":"Attitude and heading reference system","score":0.4738738238811493},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.46836745738983154},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4402887523174286},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4285094439983368},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4171186685562134},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24825748801231384},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.21696758270263672},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19690868258476257},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15662512183189392},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12751543521881104},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07540112733840942}],"concepts":[{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.8144340515136719},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7722095847129822},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.768856406211853},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7472392916679382},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7419041395187378},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.7371003031730652},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6205928921699524},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6016452312469482},{"id":"https://openalex.org/C204114589","wikidata":"https://www.wikidata.org/wiki/Q4248887","display_name":"Attitude and heading reference system","level":3,"score":0.4738738238811493},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.46836745738983154},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4402887523174286},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4285094439983368},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4171186685562134},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24825748801231384},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.21696758270263672},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19690868258476257},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15662512183189392},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12751543521881104},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07540112733840942},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2980016","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2980016","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09032181.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:304038b7838441a6bae4a009834a8ba3","is_oa":true,"landing_page_url":"https://doaj.org/article/304038b7838441a6bae4a009834a8ba3","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 8, Pp 50022-50035 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2980016","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2980016","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09032181.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3011099149.pdf","grobid_xml":"https://content.openalex.org/works/W3011099149.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W335726491","https://openalex.org/W562790762","https://openalex.org/W1969319431","https://openalex.org/W1985853728","https://openalex.org/W2007387357","https://openalex.org/W2037034232","https://openalex.org/W2045308959","https://openalex.org/W2049750053","https://openalex.org/W2053947927","https://openalex.org/W2079251198","https://openalex.org/W2095913679","https://openalex.org/W2110728483","https://openalex.org/W2110914171","https://openalex.org/W2125691646","https://openalex.org/W2137303024","https://openalex.org/W2140268640","https://openalex.org/W2160146756","https://openalex.org/W2161872204","https://openalex.org/W2180917325","https://openalex.org/W2192898626","https://openalex.org/W2310366674","https://openalex.org/W2396274919","https://openalex.org/W2480859604","https://openalex.org/W2557430988","https://openalex.org/W2559850636","https://openalex.org/W2568677893","https://openalex.org/W2739299828","https://openalex.org/W2767797175","https://openalex.org/W2806082290","https://openalex.org/W2886591136","https://openalex.org/W2906329740","https://openalex.org/W2907173324","https://openalex.org/W2908979191","https://openalex.org/W2911686839","https://openalex.org/W6615845089","https://openalex.org/W6721887335"],"related_works":["https://openalex.org/W1973973903","https://openalex.org/W4287084017","https://openalex.org/W3195533899","https://openalex.org/W3208523813","https://openalex.org/W3179745820","https://openalex.org/W2537790823","https://openalex.org/W2594666386","https://openalex.org/W2545638156","https://openalex.org/W2359095091","https://openalex.org/W2000754062"],"abstract_inverted_index":{"We":[0],"consider":[1],"the":[2,42,63,76,81,84,91,95,120,129,144],"problem":[3],"of":[4,7,44,62,68],"attitude":[5,36,71],"estimation":[6,40,130],"rigid":[8,69],"bodies":[9],"in":[10,41,56,78,101,143,155],"motion":[11],"using":[12,24,75],"low":[13],"cost":[14],"inertial":[15],"measurement":[16,32],"unit":[17],"(IMU).":[18],"An":[19],"efficient":[20],"scheme":[21,97,134],"is":[22,87,115,135],"proposed":[23,96,133],"two":[25],"different":[26,147],"Kalman":[27],"filters":[28,54,64],"by":[29],"deriving":[30],"their":[31],"models":[33],"for":[34],"precise":[35],"(pitch":[37],"and":[38,46,50,72,137,150],"roll)":[39],"presence":[43],"high":[45],"prolonged":[47],"dynamic":[48],"conditions":[49,149],"gyro":[51,92],"bias.":[52],"Both":[53],"work":[55],"a":[57],"coupled":[58],"fashion":[59],"where":[60],"one":[61],"provides":[65],"accurate":[66],"estimates":[67],"body":[70],"external":[73,111,124],"acceleration":[74,112,125],"accelerometer":[77],"conjunction":[79],"with":[80,104,139],"gyroscope":[82],"while":[83],"second":[85],"filter":[86],"responsible":[88],"to":[89,98,118,127,157],"estimate":[90],"bias,":[93],"allowing":[94],"be":[99],"used":[100],"any":[102],"application":[103],"minimal":[105],"calibration.":[106],"A":[107],"new":[108],"threshold":[109],"based":[110],"detection":[113],"module":[114],"also":[116],"introduced":[117],"change":[119],"confidence":[121],"level":[122],"on":[123],"prediction":[126],"assist":[128],"process.":[131],"The":[132],"tested":[136],"compared":[138],"other":[140],"existing":[141],"estimators":[142],"literature":[145],"under":[146],"dynamical":[148],"real-world":[151],"experimental":[152],"data":[153],"sets":[154],"order":[156],"validate":[158],"its":[159],"effectiveness.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}