{"id":"https://openalex.org/W3210319947","doi":"https://doi.org/10.1109/access.2021.3122006","title":"On the Adaptivity of Unscented Particle Filter for GNSS/INS Tightly-Integrated Navigation Unit in Urban Environment","display_name":"On the Adaptivity of Unscented Particle Filter for GNSS/INS Tightly-Integrated Navigation Unit in Urban Environment","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3210319947","doi":"https://doi.org/10.1109/access.2021.3122006","mag":"3210319947"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3122006","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3122006","pdf_url":null,"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://doi.org/10.1109/access.2021.3122006","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060316802","display_name":"Oliviero Vouch","orcid":"https://orcid.org/0000-0002-6379-8887"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Oliviero Vouch","raw_affiliation_strings":["Politecnico di Torino, Turin, Italy"],"raw_orcid":"https://orcid.org/0000-0002-6379-8887","affiliations":[{"raw_affiliation_string":"Politecnico di Torino, Turin, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043004019","display_name":"Alex Minetto","orcid":"https://orcid.org/0000-0002-0586-7151"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alex Minetto","raw_affiliation_strings":["Politecnico di Torino, Turin, Italy"],"raw_orcid":"https://orcid.org/0000-0002-0586-7151","affiliations":[{"raw_affiliation_string":"Politecnico di Torino, Turin, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066791828","display_name":"Gianluca Falco","orcid":"https://orcid.org/0000-0002-3370-7091"},"institutions":[{"id":"https://openalex.org/I4210155299","display_name":"LINKS Foundation","ror":"https://ror.org/059r3nh67","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210155299"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianluca Falco","raw_affiliation_strings":["Space and Navigation Technologies Area, LINKS Foundation, Turin, Italy"],"raw_orcid":"https://orcid.org/0000-0002-3370-7091","affiliations":[{"raw_affiliation_string":"Space and Navigation Technologies Area, LINKS Foundation, Turin, Italy","institution_ids":["https://openalex.org/I4210155299"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074401924","display_name":"Fabio Dovis","orcid":"https://orcid.org/0000-0001-6078-9099"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fabio Dovis","raw_affiliation_strings":["Politecnico di Torino, Turin, Italy"],"raw_orcid":"https://orcid.org/0000-0001-6078-9099","affiliations":[{"raw_affiliation_string":"Politecnico di Torino, Turin, Italy","institution_ids":["https://openalex.org/I177477856"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5060316802"],"corresponding_institution_ids":["https://openalex.org/I177477856"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.6792,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.87232808,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"144157","last_page":"144170"},"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":0.9998000264167786,"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":0.9998000264167786,"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/T10655","display_name":"GNSS positioning and interference","score":0.9995999932289124,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9987000226974487,"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/gnss-applications","display_name":"GNSS applications","score":0.7843613624572754},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6989440321922302},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.5840068459510803},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.563123881816864},{"id":"https://openalex.org/keywords/satellite-system","display_name":"Satellite system","score":0.5337802767753601},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5116315484046936},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5044459104537964},{"id":"https://openalex.org/keywords/non-line-of-sight-propagation","display_name":"Non-line-of-sight propagation","score":0.4899377226829529},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.48543673753738403},{"id":"https://openalex.org/keywords/multipath-propagation","display_name":"Multipath propagation","score":0.4822412431240082},{"id":"https://openalex.org/keywords/dilution-of-precision","display_name":"Dilution of precision","score":0.44320008158683777},{"id":"https://openalex.org/keywords/satellite-navigation","display_name":"Satellite navigation","score":0.4229293465614319},{"id":"https://openalex.org/keywords/gnss-augmentation","display_name":"GNSS augmentation","score":0.41688892245292664},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3321680426597595},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18549710512161255},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.17908191680908203},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.12787047028541565},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.09369978308677673}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7843613624572754},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6989440321922302},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.5840068459510803},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.563123881816864},{"id":"https://openalex.org/C2778027091","wikidata":"https://www.wikidata.org/wiki/Q25346003","display_name":"Satellite system","level":4,"score":0.5337802767753601},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5116315484046936},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5044459104537964},{"id":"https://openalex.org/C154910267","wikidata":"https://www.wikidata.org/wiki/Q1740982","display_name":"Non-line-of-sight propagation","level":3,"score":0.4899377226829529},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.48543673753738403},{"id":"https://openalex.org/C161218011","wikidata":"https://www.wikidata.org/wiki/Q11827794","display_name":"Multipath propagation","level":3,"score":0.4822412431240082},{"id":"https://openalex.org/C200499919","wikidata":"https://www.wikidata.org/wiki/Q616896","display_name":"Dilution of precision","level":4,"score":0.44320008158683777},{"id":"https://openalex.org/C36301306","wikidata":"https://www.wikidata.org/wiki/Q179435","display_name":"Satellite navigation","level":3,"score":0.4229293465614319},{"id":"https://openalex.org/C166212672","wikidata":"https://www.wikidata.org/wiki/Q2165162","display_name":"GNSS augmentation","level":4,"score":0.41688892245292664},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3321680426597595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18549710512161255},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.17908191680908203},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.12787047028541565},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.09369978308677673},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2021.3122006","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3122006","pdf_url":null,"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:8e7b4c1ee82344d69e7dc70f9c7ecf10","is_oa":true,"landing_page_url":"https://doaj.org/article/8e7b4c1ee82344d69e7dc70f9c7ecf10","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 144157-144170 (2021)","raw_type":"article"},{"id":"pmh:oai:zenodo.org:136549","is_oa":true,"landing_page_url":"https://www.openaccessrepository.it/record/136549","pdf_url":null,"source":{"id":"https://openalex.org/S4306402478","display_name":"INFM-OAR (INFN Catania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210116497","host_organization_name":"Istituto Nazionale di Fisica Nucleare, Sezione di Catania","host_organization_lineage":["https://openalex.org/I4210116497"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3122006","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3122006","pdf_url":null,"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":0.8100000023841858,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W164858599","https://openalex.org/W267350258","https://openalex.org/W290129977","https://openalex.org/W911355031","https://openalex.org/W1483393632","https://openalex.org/W1520710862","https://openalex.org/W1545343259","https://openalex.org/W1569116522","https://openalex.org/W1573917333","https://openalex.org/W1579438189","https://openalex.org/W1619072405","https://openalex.org/W1964860276","https://openalex.org/W1966244759","https://openalex.org/W1973293707","https://openalex.org/W1974531087","https://openalex.org/W1979154650","https://openalex.org/W1980356754","https://openalex.org/W1992558361","https://openalex.org/W2021246368","https://openalex.org/W2048312361","https://openalex.org/W2072033671","https://openalex.org/W2088201894","https://openalex.org/W2093319128","https://openalex.org/W2098613108","https://openalex.org/W2102664783","https://openalex.org/W2102730334","https://openalex.org/W2105482660","https://openalex.org/W2113131021","https://openalex.org/W2121990344","https://openalex.org/W2124156864","https://openalex.org/W2126736494","https://openalex.org/W2145237970","https://openalex.org/W2148061324","https://openalex.org/W2154202063","https://openalex.org/W2160337655","https://openalex.org/W2160558044","https://openalex.org/W2221510318","https://openalex.org/W2226481073","https://openalex.org/W2296870509","https://openalex.org/W2543044227","https://openalex.org/W2580246494","https://openalex.org/W2753754860","https://openalex.org/W2792553889","https://openalex.org/W2955682502","https://openalex.org/W2991289904","https://openalex.org/W3034539604","https://openalex.org/W3036895103","https://openalex.org/W3067199547","https://openalex.org/W3087672182","https://openalex.org/W3096387087","https://openalex.org/W3113310638","https://openalex.org/W3120253624","https://openalex.org/W3134539177","https://openalex.org/W4250836007","https://openalex.org/W6624380161","https://openalex.org/W6634294193","https://openalex.org/W6636365385","https://openalex.org/W6729237805","https://openalex.org/W6783774005","https://openalex.org/W6791901352"],"related_works":["https://openalex.org/W2979651660","https://openalex.org/W2989598288","https://openalex.org/W2065350823","https://openalex.org/W2463987300","https://openalex.org/W2367018089","https://openalex.org/W2364356564","https://openalex.org/W4407788424","https://openalex.org/W2791500881","https://openalex.org/W1630713849","https://openalex.org/W2385483322"],"abstract_inverted_index":{"Tight":[0],"integration":[1,28],"algorithms":[2],"fusing":[3],"Global":[4],"Navigation":[5,11],"Satellite":[6],"System":[7,12],"(GNSS)":[8],"and":[9,21,66,85,95,170,211],"Inertial":[10],"(INS)":[13],"have":[14],"become":[15],"popular":[16],"in":[17,113,143],"many":[18],"high-accuracy":[19],"positioning":[20],"navigation":[22,38],"applications.":[23],"Despite":[24],"their":[25],"reliability,":[26],"common":[27],"architectures":[29,78,210],"can":[30],"still":[31],"run":[32],"into":[33],"accuracy":[34],"drops":[35],"under":[36],"challenging":[37],"settings.":[39],"The":[40],"growing":[41],"computational":[42],"power":[43],"of":[44,53,103,154,167,192,223],"low-cost,":[45],"embedded":[46],"systems":[47],"has":[48],"allowed":[49],"for":[50,180],"the":[51,62,114,120,165,172,181,193,198,220,224],"exploitation":[52],"several":[54],"advanced":[55],"Bayesian":[56],"state":[57,173],"estimation":[58],"algorithms,":[59],"such":[60],"as":[61],"Particle":[63,72,127],"Filter":[64,73,128],"(PF)":[65],"its":[67],"hybrid":[68],"variants,":[69],"e.g.":[70],"Unscented":[71,126],"(UPF).":[74],"Although":[75],"sophisticated,":[76],"these":[77,118],"are":[79],"not":[80],"immune":[81],"from":[82],"multipath":[83],"scattering":[84],"Non-Line-of-Sight":[86],"(NLOS)":[87],"signal":[88,148],"receptions,":[89],"which":[90],"frequently":[91],"corrupt":[92],"satellite":[93],"measurements":[94],"jeopardise":[96],"GNSS/INS":[97],"solutions.":[98],"Hence,":[99],"a":[100,123,155,187,203,212],"certain":[101],"level":[102],"modelling":[104],"adaptivity":[105],"should":[106],"be":[107],"granted":[108],"to":[109,135,163,218],"avoid":[110],"severe":[111],"drifts":[112],"estimated":[115],"states.":[116],"Given":[117],"premises,":[119],"paper":[121],"presents":[122],"novel":[124],"Adaptive":[125],"(AUPF)":[129],"architecture":[130],"leveraging":[131],"two":[132],"cascading":[133],"stages":[134],"cope":[136],"with":[137,207],"disruptive,":[138],"biased":[139],"GNSS":[140],"input":[141],"observables":[142],"harsh":[144],"conditions.":[145],"A":[146],"INS-based":[147],"processing":[149],"block":[150],"is":[151,178,215],"implemented":[152],"upstream":[153],"Redundant":[156],"Measurement":[157],"Noise":[158],"Covariance":[159],"Estimation":[160],"(RMNCE)":[161],"stage":[162],"strengthen":[164],"adaptation":[166],"observables\u2019":[168],"statistics":[169],"improve":[171],"estimation.":[174],"An":[175],"experimental":[176],"assessment":[177],"provided":[179],"proposed":[182,225],"robust":[183],"AUPF":[184],"that":[185],"demonstrates":[186],"10":[188],"%":[189],"average":[190],"reduction":[191],"horizontal":[194],"position":[195],"error":[196],"above":[197],"75-th":[199],"percentile.":[200],"In":[201],"addition,":[202],"comparative":[204],"analysis":[205],"both":[206],"previous":[208],"adaptive":[209],"plain":[213],"UPF":[214],"carried":[216],"out":[217],"highlight":[219],"improved":[221],"performance":[222],"methodology.":[226]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}