{"id":"https://openalex.org/W3026325573","doi":"https://doi.org/10.1109/access.2020.2995746","title":"An Improved Adaptive Unscented Kalman Filter With Application in the Deeply Integrated BDS/INS Navigation System","display_name":"An Improved Adaptive Unscented Kalman Filter With Application in the Deeply Integrated BDS/INS Navigation System","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3026325573","doi":"https://doi.org/10.1109/access.2020.2995746","mag":"3026325573"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2995746","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2995746","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09096361.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/ielx7/6287639/8948470/09096361.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036518716","display_name":"Junren Sun","orcid":"https://orcid.org/0000-0003-2197-1933"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Junren Sun","raw_affiliation_strings":["Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2197-1933","affiliations":[{"raw_affiliation_string":"Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112570961","display_name":"Tao Lin","orcid":"https://orcid.org/0000-0003-4282-5433"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Tao","raw_affiliation_strings":["Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039356348","display_name":"Zun Niu","orcid":"https://orcid.org/0000-0002-8599-7043"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zun Niu","raw_affiliation_strings":["Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103873972","display_name":"Bocheng Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bocheng Zhu","raw_affiliation_strings":["Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5036518716"],"corresponding_institution_ids":["https://openalex.org/I20231570"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.3119,"has_fulltext":true,"cited_by_count":28,"citation_normalized_percentile":{"value":0.9064583,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"95321","last_page":"95332"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9994999766349792,"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/T10655","display_name":"GNSS positioning and interference","score":0.9983000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7675336599349976},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6998443007469177},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5352355241775513},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.5055019855499268},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34815627336502075},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3204500675201416},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14422252774238586},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.07739266753196716}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7675336599349976},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6998443007469177},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5352355241775513},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5055019855499268},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34815627336502075},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3204500675201416},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14422252774238586},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.07739266753196716},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2995746","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2995746","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09096361.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:6aebc60de5be45ccab02dedd7628b8e0","is_oa":true,"landing_page_url":"https://doaj.org/article/6aebc60de5be45ccab02dedd7628b8e0","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 95321-95332 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2995746","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2995746","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09096361.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":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3026325573.pdf","grobid_xml":"https://content.openalex.org/works/W3026325573.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W116182022","https://openalex.org/W794239199","https://openalex.org/W1579438189","https://openalex.org/W1662015608","https://openalex.org/W1822076674","https://openalex.org/W1940221538","https://openalex.org/W1966244759","https://openalex.org/W1981314715","https://openalex.org/W1991096748","https://openalex.org/W2000340713","https://openalex.org/W2003621040","https://openalex.org/W2017763726","https://openalex.org/W2020934227","https://openalex.org/W2021472677","https://openalex.org/W2027881735","https://openalex.org/W2042775697","https://openalex.org/W2048312361","https://openalex.org/W2057759400","https://openalex.org/W2095780937","https://openalex.org/W2102642243","https://openalex.org/W2107802551","https://openalex.org/W2111760637","https://openalex.org/W2113714835","https://openalex.org/W2131236830","https://openalex.org/W2137043637","https://openalex.org/W2139857744","https://openalex.org/W2140908852","https://openalex.org/W2144401864","https://openalex.org/W2144918665","https://openalex.org/W2150449423","https://openalex.org/W2161906519","https://openalex.org/W2228802138","https://openalex.org/W2278472954","https://openalex.org/W2297664303","https://openalex.org/W2523351019","https://openalex.org/W2587049767","https://openalex.org/W2625107117","https://openalex.org/W2772140884","https://openalex.org/W2794830497","https://openalex.org/W2883401610","https://openalex.org/W2947091626","https://openalex.org/W6604660095","https://openalex.org/W6622745955","https://openalex.org/W6679282865","https://openalex.org/W6694856301","https://openalex.org/W6733241056"],"related_works":["https://openalex.org/W1978572805","https://openalex.org/W2383807498","https://openalex.org/W2089114113","https://openalex.org/W1997992934","https://openalex.org/W1987225439","https://openalex.org/W4238188170","https://openalex.org/W2389555968","https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W1573859018"],"abstract_inverted_index":{"The":[0,26,72],"integration":[1,34,135],"of":[2,131,175],"the":[3,9,40,44,49,54,59,68,117,121,128,132,146,162,173,176,183,188,198],"BeiDou":[4],"Navigation":[5,11],"Satellite":[6],"System(BDS)":[7],"and":[8,18,32,53,81,108,136,148,161,192],"Inertial":[10],"System(INS)":[12],"can":[13,144],"provide":[14],"a":[15,158,194],"more":[16,36,137],"reliable":[17],"accurate":[19],"navigation":[20,166],"service":[21],"than":[22,39],"either":[23],"system":[24,167],"alone.":[25],"deeply":[27,163],"coupled":[28,42],"architecture":[29],"for":[30],"BDS":[31],"INS":[33],"has":[35,193],"superior":[37],"performance":[38,174,196],"loosely":[41],"or":[43],"tightly":[45],"coupled.":[46],"Owing":[47],"to":[48,111,127,139,171],"complicated":[50],"dynamic":[51],"scenario":[52],"nonlinear":[55],"system's":[56],"noise":[57],"uncertainty,":[58],"adaptive":[60,73,79,83,100],"Kalman":[61,102,190],"filter(AKF)":[62],"algorithm":[63,124,186],"is":[64,125,168],"often":[65],"adopted":[66],"in":[67,88,151],"deep":[69],"integration(DI)":[70],"system.":[71],"Sage":[74,118],"window":[75,119],"methods":[76],"including":[77],"innovation-based":[78],"estimation(IAE)":[80],"residual-based":[82],"estimation(RAE)":[84],"are":[85],"widely":[86],"applied":[87],"AKF":[89],"algorithms,":[90],"but":[91],"they":[92],"have":[93],"several":[94],"limitations.":[95,114],"We":[96],"propose":[97],"an":[98],"improved":[99,122,177,184],"unscented":[101],"filter(AUKF)":[103],"based":[104,156],"on":[105,157],"forgetting-factor-weight":[106],"smoothing":[107],"multi-factor":[109],"adaptation":[110],"overcome":[112],"these":[113],"Compared":[115],"with":[116,197],"methods,":[120],"AUKF":[123,185],"immune":[126],"quantity":[129],"change":[130],"satellites":[133],"concerning":[134],"sensitive":[138],"present":[140],"dynamic.":[141],"Furthermore,":[142],"it":[143],"reduce":[145],"computation":[147],"storage":[149],"burden":[150],"implementation.":[152],"A":[153],"simulation":[154],"test":[155],"software":[159],"platform":[160],"integrated":[164],"BDS/INS":[165],"carried":[169],"out":[170],"evaluate":[172],"AUKF.":[178],"Simulation":[179],"results":[180],"show":[181],"that":[182],"outperforms":[187],"extended":[189],"filter(EKF)":[191],"similar":[195],"RAE-AUKF.":[199]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":5}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}