{"id":"https://openalex.org/W3120418040","doi":"https://doi.org/10.1109/access.2020.3048695","title":"Gradient Descent Optimization-Based SINS Self-Alignment Method and Error Analysis","display_name":"Gradient Descent Optimization-Based SINS Self-Alignment Method and Error Analysis","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3120418040","doi":"https://doi.org/10.1109/access.2020.3048695","mag":"3120418040"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3048695","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3048695","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09312157.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/ielx7/6287639/9312710/09312157.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101643627","display_name":"Jingchun Li","orcid":"https://orcid.org/0000-0002-7813-9489"},"institutions":[{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingchun Li","raw_affiliation_strings":["Peng Cheng Laboratory, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-7813-9489","affiliations":[{"raw_affiliation_string":"Peng Cheng Laboratory, Shenzhen, China","institution_ids":["https://openalex.org/I4210136793"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048872099","display_name":"Jiachong Chang","orcid":"https://orcid.org/0000-0001-6008-9228"},"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":"Jiachong Chang","raw_affiliation_strings":["School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-6008-9228","affiliations":[{"raw_affiliation_string":"School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","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 Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"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":7.4732,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.96520696,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"9","issue":null,"first_page":"8286","last_page":"8298"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9958000183105469,"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/T10655","display_name":"GNSS positioning and interference","score":0.9937000274658203,"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/quaternion","display_name":"Quaternion","score":0.7688655853271484},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.6886839866638184},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.6487022042274475},{"id":"https://openalex.org/keywords/gradient-descent","display_name":"Gradient descent","score":0.5970265865325928},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.5726338624954224},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5231527090072632},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5180935263633728},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5032774806022644},{"id":"https://openalex.org/keywords/descent","display_name":"Descent (aeronautics)","score":0.46827080845832825},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.46669629216194153},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.393799751996994},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.37653738260269165},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22620037198066711},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07948744297027588},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07653367519378662}],"concepts":[{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.7688655853271484},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.6886839866638184},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.6487022042274475},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.5970265865325928},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.5726338624954224},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5231527090072632},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5180935263633728},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5032774806022644},{"id":"https://openalex.org/C2776637919","wikidata":"https://www.wikidata.org/wiki/Q624380","display_name":"Descent (aeronautics)","level":2,"score":0.46827080845832825},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.46669629216194153},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.393799751996994},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.37653738260269165},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22620037198066711},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07948744297027588},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07653367519378662},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","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/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3048695","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3048695","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09312157.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:11c56cc09dbd4c688c204fd2e3a482d8","is_oa":true,"landing_page_url":"https://doaj.org/article/11c56cc09dbd4c688c204fd2e3a482d8","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 9, Pp 8286-8298 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3048695","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3048695","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09312157.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":[{"id":"https://openalex.org/G1280199960","display_name":null,"funder_award_id":"51509063","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"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/G1511339255","display_name":null,"funder_award_id":"HIT.NSRIF.201813","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G2869954087","display_name":null,"funder_award_id":"2020M682824","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G3236417456","display_name":null,"funder_award_id":"91948204","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3535799059","display_name":null,"funder_award_id":"2017YFB0503001","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G41111452","display_name":null,"funder_award_id":"201813","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7125722821","display_name":null,"funder_award_id":"201813","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3120418040.pdf","grobid_xml":"https://content.openalex.org/works/W3120418040.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W173320072","https://openalex.org/W1493051473","https://openalex.org/W1964860276","https://openalex.org/W2006863675","https://openalex.org/W2014893342","https://openalex.org/W2023271132","https://openalex.org/W2042414327","https://openalex.org/W2050100173","https://openalex.org/W2054068611","https://openalex.org/W2062182105","https://openalex.org/W2068150094","https://openalex.org/W2069693317","https://openalex.org/W2091222125","https://openalex.org/W2095860425","https://openalex.org/W2103807524","https://openalex.org/W2114499490","https://openalex.org/W2125691646","https://openalex.org/W2142595063","https://openalex.org/W2146502635","https://openalex.org/W2156030405","https://openalex.org/W2160146756","https://openalex.org/W2395202693","https://openalex.org/W2467377838","https://openalex.org/W2523246573","https://openalex.org/W2555631315","https://openalex.org/W2768018028","https://openalex.org/W2897742226","https://openalex.org/W2898484488","https://openalex.org/W2940954730","https://openalex.org/W2945263881","https://openalex.org/W2980919821","https://openalex.org/W2986652060","https://openalex.org/W2992527696","https://openalex.org/W3012399464","https://openalex.org/W3101777406","https://openalex.org/W6674484418","https://openalex.org/W6681435938","https://openalex.org/W6727249380"],"related_works":["https://openalex.org/W2128405419","https://openalex.org/W1590923801","https://openalex.org/W3121466181","https://openalex.org/W2156842304","https://openalex.org/W2385234200","https://openalex.org/W2766759697","https://openalex.org/W2394248547","https://openalex.org/W1982606137","https://openalex.org/W2156308897","https://openalex.org/W2015288657"],"abstract_inverted_index":{"In":[0,134],"this":[1],"paper,":[2],"the":[3,45,83,86,93,101,107,113,127,139,147,160,171,188,196,199,204],"self-alignment":[4,24,48,125],"for":[5,63,123,151],"stationary":[6,46,64],"strapdown":[7],"inertial":[8],"navigation":[9],"system":[10],"(SINS)":[11],"is":[12,120,131,166],"formulated":[13,42],"as":[14],"an":[15],"optimization":[16],"problem,":[17],"and":[18,27,70,76,144,146,153,181,192,195,201],"two":[19,36],"gradient":[20,78],"descent":[21,79],"optimization-based":[22],"SINS":[23,47,65,124],"methods":[25],"(GD1":[26],"GD2)":[28],"are":[29,40,184],"proposed.":[30],"The":[31],"highlight":[32],"lies":[33],"in":[34,74,97],"that":[35],"quaternion-based":[37,60,94],"objective":[38,61,87,95],"functions":[39],"firstly":[41,57],"to":[43,81,105,169,186],"solve":[44],"problem.":[49],"Different":[50],"from":[51,103],"conventional":[52],"initial":[53],"alignment":[54,172],"methods,":[55],"we":[56,90,136],"construct":[58],"a":[59,163],"function":[62,96],"using":[66,100,112],"gravity,":[67],"Earth":[68,108],"rate":[69,109],"local":[71,114,128],"latitude":[72,115,129],"information":[73,130],"GD1,":[75],"employs":[77],"method":[80,119,155],"achieve":[82],"minimum":[84],"of":[85,111,142,174,190,203],"function.":[88],"Secondly,":[89],"further":[91],"improve":[92],"GD2":[98,118,154,193],"by":[99,177],"measurements":[102],"IMU":[104],"represent":[106],"instead":[110],"directly.":[116],"Thus,":[117],"more":[121],"competent":[122],"when":[126],"not":[132],"available.":[133],"addition,":[135],"also":[137,167],"analyze":[138],"bias":[140],"errors":[141,173],"accelerometer":[143],"gyroscope":[145,178],"quaternion":[148],"normality":[149],"error":[150],"GD1":[152,175,191],"respectively.":[156],"Moreover,":[157],"based":[158],"on":[159],"analysis":[161],"results,":[162],"scale":[164],"factor":[165],"introduced":[168],"reduce":[170],"caused":[176],"biases.":[179],"Simulation":[180],"static":[182],"experiment":[183],"implemented":[185],"test":[187],"performances":[189],"method,":[194],"results":[197],"verify":[198],"accuracy":[200],"speed":[202],"proposed":[205],"methods.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}