{"id":"https://openalex.org/W3048539090","doi":"https://doi.org/10.1109/access.2020.3015593","title":"Enhanced Relative Localization Based on Persistent Excitation for Multi-UAVs in GPS-Denied Environments","display_name":"Enhanced Relative Localization Based on Persistent Excitation for Multi-UAVs in GPS-Denied Environments","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3048539090","doi":"https://doi.org/10.1109/access.2020.3015593","mag":"3048539090"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3015593","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3015593","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09163349.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/ielx7/6287639/8948470/09163349.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041062868","display_name":"Fujiang She","orcid":"https://orcid.org/0000-0001-8437-5958"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fujiang She","raw_affiliation_strings":["Artificial Intelligence Research Center (AIRC), National Innovation Institute of Defense Technology (NIIDT), Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8437-5958","affiliations":[{"raw_affiliation_string":"Artificial Intelligence Research Center (AIRC), National Innovation Institute of Defense Technology (NIIDT), Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053811443","display_name":"Yongjun Zhang","orcid":"https://orcid.org/0000-0002-7182-263X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yongjun Zhang","raw_affiliation_strings":["Artificial Intelligence Research Center (AIRC), National Innovation Institute of Defense Technology (NIIDT), Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Research Center (AIRC), National Innovation Institute of Defense Technology (NIIDT), Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019758816","display_name":"Dianxi Shi","orcid":"https://orcid.org/0000-0002-8112-371X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dianxi Shi","raw_affiliation_strings":["Artificial Intelligence Research Center (AIRC), National Innovation Institute of Defense Technology (NIIDT), Beijing, China","College of Computer, National University of Defense Technology, Changsha, China","Tianjin Artificial Intelligence Innovation Center (TAIIC), Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Research Center (AIRC), National Innovation Institute of Defense Technology (NIIDT), Beijing, China","institution_ids":[]},{"raw_affiliation_string":"College of Computer, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"Tianjin Artificial Intelligence Innovation Center (TAIIC), Tianjin, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100397092","display_name":"Hao Zhou","orcid":"https://orcid.org/0009-0009-3536-7623"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hao Zhou","raw_affiliation_strings":["Artificial Intelligence Research Center (AIRC), National Innovation Institute of Defense Technology (NIIDT), Beijing, China","Tianjin Artificial Intelligence Innovation Center (TAIIC), Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Research Center (AIRC), National Innovation Institute of Defense Technology (NIIDT), Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Tianjin Artificial Intelligence Innovation Center (TAIIC), Tianjin, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100633468","display_name":"Xiaoguang Ren","orcid":"https://orcid.org/0000-0002-8048-6762"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiaoguang Ren","raw_affiliation_strings":["Artificial Intelligence Research Center (AIRC), National Innovation Institute of Defense Technology (NIIDT), Beijing, China","Tianjin Artificial Intelligence Innovation Center (TAIIC), Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Research Center (AIRC), National Innovation Institute of Defense Technology (NIIDT), Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Tianjin Artificial Intelligence Innovation Center (TAIIC), Tianjin, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091154380","display_name":"Tianqi Xu","orcid":"https://orcid.org/0000-0001-5285-9843"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tianqi Xu","raw_affiliation_strings":["Artificial Intelligence Research Center (AIRC), National Innovation Institute of Defense Technology (NIIDT), Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5285-9843","affiliations":[{"raw_affiliation_string":"Artificial Intelligence Research Center (AIRC), National Innovation Institute of Defense Technology (NIIDT), Beijing, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"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":0.7066,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.69825084,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"8","issue":null,"first_page":"148136","last_page":"148148"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"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/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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994000196456909,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7963060736656189},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.7574502229690552},{"id":"https://openalex.org/keywords/divergence","display_name":"Divergence (linguistics)","score":0.6041722297668457},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4894327223300934},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1009015142917633}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7963060736656189},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.7574502229690552},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.6041722297668457},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4894327223300934},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1009015142917633},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3015593","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3015593","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09163349.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:441391e687f24328904909fcfd75d46c","is_oa":true,"landing_page_url":"https://doaj.org/article/441391e687f24328904909fcfd75d46c","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 148136-148148 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3015593","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3015593","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09163349.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":[{"score":0.6299999952316284,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G1860839707","display_name":null,"funder_award_id":"2017YFB1001901","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W2085101420","https://openalex.org/W2091706496","https://openalex.org/W2108481495","https://openalex.org/W2124709588","https://openalex.org/W2137348018","https://openalex.org/W2149030246","https://openalex.org/W2150336603","https://openalex.org/W2169633886","https://openalex.org/W2284951713","https://openalex.org/W2342740524","https://openalex.org/W2343290465","https://openalex.org/W2426493574","https://openalex.org/W2560097212","https://openalex.org/W2597920226","https://openalex.org/W2730952500","https://openalex.org/W2736813652","https://openalex.org/W2741178546","https://openalex.org/W2743740847","https://openalex.org/W2758687227","https://openalex.org/W2782374507","https://openalex.org/W2788056275","https://openalex.org/W2802032695","https://openalex.org/W2802189056","https://openalex.org/W2886401384","https://openalex.org/W2888255531","https://openalex.org/W2896533115","https://openalex.org/W2902446117","https://openalex.org/W2912572043","https://openalex.org/W2926397355","https://openalex.org/W2962717121","https://openalex.org/W2968394312","https://openalex.org/W2973834056","https://openalex.org/W3099436200","https://openalex.org/W6678311703","https://openalex.org/W6685138576"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W3162200841","https://openalex.org/W2586280620","https://openalex.org/W2805505483","https://openalex.org/W2334071950","https://openalex.org/W2384744344","https://openalex.org/W4233932308","https://openalex.org/W1799694159"],"abstract_inverted_index":{"Intelligent":[0],"unmanned":[1],"aerial":[2],"vehicles":[3],"(UAVs)":[4],"have":[5],"been":[6],"applied":[7],"for":[8,18,52,64],"civil":[9],"and":[10,25,78,85,108,112,142],"military":[11],"uses.":[12],"Relative":[13],"localization":[14],"(RL)":[15],"is":[16,40,48,104,115],"crucial":[17],"multi-UAVs":[19,53],"to":[20,42,54,90,106,117],"accomplish":[21],"complex":[22],"tasks":[23],"successfully":[24],"safely.":[26],"In":[27],"global":[28],"positioning":[29],"system":[30],"(GPS)":[31],"denied":[32],"environments,":[33],"where":[34],"accurate":[35],"or":[36],"meaningful":[37],"location":[38],"information":[39],"hard":[41],"obtain,":[43],"persistent":[44,68,96],"excitation":[45,69,97],"based":[46,70,98],"RL":[47,56,71,110,113,119,140,144],"a":[49],"promising":[50],"approach":[51,89,136],"achieve":[55],"without":[57],"any":[58],"needs":[59],"of":[60,95],"external":[61],"infrastructures.":[62],"However,":[63],"many":[65],"cases,":[66],"existing":[67],"method":[72],"suffers":[73],"precision":[74],"loss,":[75],"error":[76,120,141,145],"accumulation":[77],"divergence.":[79],"This":[80],"article":[81],"tackles":[82],"these":[83],"issues,":[84],"proposes":[86],"an":[87],"enhanced":[88],"ensure":[91],"the":[92,134],"practical":[93],"usage":[94],"RL.":[99],"Synchronized":[100],"sensor":[101],"sample":[102],"prediction":[103],"introduced":[105],"confine":[107],"reduce":[109],"error,":[111],"estimation":[114],"redesigned":[116],"avoid":[118],"accumulation.":[121,146],"We":[122],"evaluated":[123],"our":[124],"solution":[125],"by":[126],"simulating":[127],"various":[128],"scenarios.":[129],"The":[130],"results":[131],"show":[132],"that":[133],"proposed":[135],"can":[137],"effectively":[138],"decrease":[139],"prevent":[143]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-19T21:40:30.786675","created_date":"2025-10-10T00:00:00"}
