{"id":"https://openalex.org/W3161583750","doi":"https://doi.org/10.1109/access.2021.3079381","title":"INS Fine Alignment With Low-Cost Gyroscopes: Adaptive Filters for Different Measurement Types","display_name":"INS Fine Alignment With Low-Cost Gyroscopes: Adaptive Filters for Different Measurement Types","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3161583750","doi":"https://doi.org/10.1109/access.2021.3079381","mag":"3161583750"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3079381","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3079381","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09427485.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/ielx7/6287639/9312710/09427485.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012718881","display_name":"Itzik Klein","orcid":"https://orcid.org/0000-0001-7846-0654"},"institutions":[{"id":"https://openalex.org/I91203450","display_name":"University of Haifa","ror":"https://ror.org/02f009v59","country_code":"IL","type":"education","lineage":["https://openalex.org/I91203450"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"Itzik Klein","raw_affiliation_strings":["University of Haifa, Haifa, Israel"],"raw_orcid":"https://orcid.org/0000-0001-7846-0654","affiliations":[{"raw_affiliation_string":"University of Haifa, Haifa, Israel","institution_ids":["https://openalex.org/I91203450"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044127482","display_name":"Yaakov Bar\u2010Shalom","orcid":"https://orcid.org/0000-0003-1317-3368"},"institutions":[{"id":"https://openalex.org/I140172145","display_name":"University of Connecticut","ror":"https://ror.org/02der9h97","country_code":"US","type":"education","lineage":["https://openalex.org/I140172145"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yaakov Bar-Shalom","raw_affiliation_strings":["University of Connecticut, Storrs, CT, USA"],"raw_orcid":"https://orcid.org/0000-0003-1317-3368","affiliations":[{"raw_affiliation_string":"University of Connecticut, Storrs, CT, USA","institution_ids":["https://openalex.org/I140172145"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5012718881"],"corresponding_institution_ids":["https://openalex.org/I91203450"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":6.5687,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.96292952,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"9","issue":null,"first_page":"79021","last_page":"79032"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9957000017166138,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9883999824523926,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.8308363556861877},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.8180375099182129},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.71941077709198},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7171962261199951},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6870739459991455},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.6777135729789734},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5335047245025635},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4942631721496582},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4910602569580078},{"id":"https://openalex.org/keywords/system-of-measurement","display_name":"System of measurement","score":0.4712011516094208},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4526682496070862},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4233076274394989},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3223501443862915},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2719231843948364},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18312525749206543},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15867328643798828},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.13144099712371826},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09734237194061279}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.8308363556861877},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.8180375099182129},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.71941077709198},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7171962261199951},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6870739459991455},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.6777135729789734},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5335047245025635},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4942631721496582},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4910602569580078},{"id":"https://openalex.org/C37649242","wikidata":"https://www.wikidata.org/wiki/Q932268","display_name":"System of measurement","level":2,"score":0.4712011516094208},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4526682496070862},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4233076274394989},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3223501443862915},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2719231843948364},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18312525749206543},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15867328643798828},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.13144099712371826},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09734237194061279},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3079381","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3079381","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09427485.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:7eb46b667fe947eba528483e0441d183","is_oa":true,"landing_page_url":"https://doaj.org/article/7eb46b667fe947eba528483e0441d183","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 79021-79032 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3079381","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3079381","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09427485.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":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3161583750.pdf","grobid_xml":"https://content.openalex.org/works/W3161583750.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W592904438","https://openalex.org/W1493051473","https://openalex.org/W1564768010","https://openalex.org/W1572164208","https://openalex.org/W1579438189","https://openalex.org/W1966244759","https://openalex.org/W2042414327","https://openalex.org/W2089609978","https://openalex.org/W2100893201","https://openalex.org/W2118424246","https://openalex.org/W2138784338","https://openalex.org/W2139511704","https://openalex.org/W2141095088","https://openalex.org/W2160469776","https://openalex.org/W2160626949","https://openalex.org/W2160947226","https://openalex.org/W2238582461","https://openalex.org/W2296816139","https://openalex.org/W2318699136","https://openalex.org/W2398709387","https://openalex.org/W2555631315","https://openalex.org/W2761474846","https://openalex.org/W2772481705","https://openalex.org/W2887097770","https://openalex.org/W2912928950","https://openalex.org/W2940954730","https://openalex.org/W3008229407","https://openalex.org/W3046016151","https://openalex.org/W4252380473","https://openalex.org/W6780924334"],"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/W2387696481","https://openalex.org/W2359095091"],"abstract_inverted_index":{"Inertial":[0],"navigation":[1,130],"system":[2],"stationary":[3,120],"fine":[4],"alignment":[5,107],"process":[6],"is":[7,61,78],"a":[8,41,53],"critical":[9],"step":[10],"in":[11,44,116],"reducing":[12],"the":[13,17,82,93,101,106],"initial":[14],"errors":[15],"of":[16,88,119],"attitude":[18],"and":[19,64,69],"sensor":[20],"biases.":[21],"While":[22],"many":[23],"studies":[24],"had":[25],"been":[26],"made":[27,79],"for":[28],"tactical":[29],"grade":[30],"systems,":[31],"less":[32],"attention":[33],"was":[34],"given":[35],"to":[36,80,99,104],"low-cost":[37],"sensors,":[38],"which":[39],"are":[40,97],"major":[42],"player":[43],"today's":[45],"inertial":[46,129],"sensors":[47],"market.":[48],"To":[49],"fill":[50],"this":[51],"gap,":[52],"measurement":[54,95,111],"strategy":[55,96,112],"combining":[56],"different":[57],"INS":[58],"aiding":[59],"types":[60,87],"proposed,":[62],"analyzed":[63],"compared":[65,98],"using":[66],"numerical":[67,83],"simulations":[68],"field":[70],"experiments.":[71],"Additionally,":[72],"an":[73],"analytical":[74],"linear":[75],"observability":[76],"analysis":[77],"support":[81],"comparisons.":[84],"Further,":[85],"five":[86],"adaptive":[89],"Kalman":[90],"filters":[91],"with":[92],"proposed":[94,110],"find":[100],"appropriate":[102],"one":[103],"improve":[105],"performance.":[108],"The":[109],"can":[113],"be":[114],"used":[115],"other":[117],"applications":[118],"conditions":[121],"such":[122],"as":[123],"land":[124],"vehicles,":[125],"robots":[126],"or":[127],"shoe-mounted":[128],"systems.":[131]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}