{"id":"https://openalex.org/W3093980378","doi":"https://doi.org/10.1109/cacre50138.2020.9230004","title":"Filters navigation and positioning based on mining vehicle motion model","display_name":"Filters navigation and positioning based on mining vehicle motion model","publication_year":2020,"publication_date":"2020-09-01","ids":{"openalex":"https://openalex.org/W3093980378","doi":"https://doi.org/10.1109/cacre50138.2020.9230004","mag":"3093980378"},"language":"en","primary_location":{"id":"doi:10.1109/cacre50138.2020.9230004","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacre50138.2020.9230004","pdf_url":null,"source":{"id":"https://openalex.org/S4306498616","display_name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108058575","display_name":"Yuheng Chen","orcid":"https://orcid.org/0009-0008-2896-6831"},"institutions":[{"id":"https://openalex.org/I4210102267","display_name":"Changsha Mining and Metallurgy Research Institute (China)","ror":"https://ror.org/01b4hqa77","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210102267","https://openalex.org/I4210161903"]},{"id":"https://openalex.org/I4210120069","display_name":"Ministry of Science and Technology of the People's Republic of China","ror":"https://ror.org/027s68j25","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210120069","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuheng Chen","raw_affiliation_strings":["Ministry of Science and Technology of the People\u2019s Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China","Ministry of Science and Technology of the People's Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Science and Technology of the People\u2019s Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China","institution_ids":["https://openalex.org/I4210102267","https://openalex.org/I4210120069"]},{"raw_affiliation_string":"Ministry of Science and Technology of the People's Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China","institution_ids":["https://openalex.org/I4210102267","https://openalex.org/I4210120069"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081600751","display_name":"Hongyun Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210102267","display_name":"Changsha Mining and Metallurgy Research Institute (China)","ror":"https://ror.org/01b4hqa77","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210102267","https://openalex.org/I4210161903"]},{"id":"https://openalex.org/I4210120069","display_name":"Ministry of Science and Technology of the People's Republic of China","ror":"https://ror.org/027s68j25","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210120069","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyun Wu","raw_affiliation_strings":["Ministry of Science and Technology of the People\u2019s Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China","Ministry of Science and Technology of the People's Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Science and Technology of the People\u2019s Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China","institution_ids":["https://openalex.org/I4210102267","https://openalex.org/I4210120069"]},{"raw_affiliation_string":"Ministry of Science and Technology of the People's Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China","institution_ids":["https://openalex.org/I4210102267","https://openalex.org/I4210120069"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087116369","display_name":"Zhou Liu","orcid":"https://orcid.org/0000-0003-3396-8280"},"institutions":[{"id":"https://openalex.org/I4210102267","display_name":"Changsha Mining and Metallurgy Research Institute (China)","ror":"https://ror.org/01b4hqa77","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210102267","https://openalex.org/I4210161903"]},{"id":"https://openalex.org/I4210120069","display_name":"Ministry of Science and Technology of the People's Republic of China","ror":"https://ror.org/027s68j25","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210120069","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhou Liu","raw_affiliation_strings":["Ministry of Science and Technology of the People\u2019s Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China","Ministry of Science and Technology of the People's Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Science and Technology of the People\u2019s Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China","institution_ids":["https://openalex.org/I4210102267","https://openalex.org/I4210120069"]},{"raw_affiliation_string":"Ministry of Science and Technology of the People's Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China","institution_ids":["https://openalex.org/I4210102267","https://openalex.org/I4210120069"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100630228","display_name":"Yongfeng Liu","orcid":"https://orcid.org/0000-0002-3556-9593"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongfeng Liu","raw_affiliation_strings":["School of mechanical and electrical engineering, Central south university, Changsha, Hunnan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of mechanical and electrical engineering, Central south university, Changsha, Hunnan, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100416955","display_name":"Jingwei Li","orcid":"https://orcid.org/0009-0007-5401-639X"},"institutions":[{"id":"https://openalex.org/I4210102267","display_name":"Changsha Mining and Metallurgy Research Institute (China)","ror":"https://ror.org/01b4hqa77","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210102267","https://openalex.org/I4210161903"]},{"id":"https://openalex.org/I4210120069","display_name":"Ministry of Science and Technology of the People's Republic of China","ror":"https://ror.org/027s68j25","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210120069","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingwei Li","raw_affiliation_strings":["Ministry of Science and Technology of the People\u2019s Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China","Ministry of Science and Technology of the People's Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Science and Technology of the People\u2019s Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China","institution_ids":["https://openalex.org/I4210102267","https://openalex.org/I4210120069"]},{"raw_affiliation_string":"Ministry of Science and Technology of the People's Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China","institution_ids":["https://openalex.org/I4210102267","https://openalex.org/I4210120069"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030631596","display_name":"Bolin Yin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210102267","display_name":"Changsha Mining and Metallurgy Research Institute (China)","ror":"https://ror.org/01b4hqa77","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210102267","https://openalex.org/I4210161903"]},{"id":"https://openalex.org/I4210120069","display_name":"Ministry of Science and Technology of the People's Republic of China","ror":"https://ror.org/027s68j25","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210120069","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bolin Yin","raw_affiliation_strings":["Ministry of Science and Technology of the People\u2019s Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China","Ministry of Science and Technology of the People's Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Science and Technology of the People\u2019s Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China","institution_ids":["https://openalex.org/I4210102267","https://openalex.org/I4210120069"]},{"raw_affiliation_string":"Ministry of Science and Technology of the People's Republic of China, National Research Center of Metal Mining Engineering Technology (Changsha Institute of Mining Research), Changsha, Hunnan, China","institution_ids":["https://openalex.org/I4210102267","https://openalex.org/I4210120069"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5034,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.56014151,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"31","last_page":"36"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9994999766349792,"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":0.9987999796867371,"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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6889594793319702},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6841139793395996},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.6101549863815308},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.582653820514679},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.547207236289978},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5410894155502319},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.52440345287323},{"id":"https://openalex.org/keywords/ensemble-kalman-filter","display_name":"Ensemble Kalman filter","score":0.5030214190483093},{"id":"https://openalex.org/keywords/nonlinear-filter","display_name":"Nonlinear filter","score":0.4526403546333313},{"id":"https://openalex.org/keywords/divergence","display_name":"Divergence (linguistics)","score":0.4146266281604767},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.3854241371154785},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.29989272356033325},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29007190465927124},{"id":"https://openalex.org/keywords/filter-design","display_name":"Filter design","score":0.20751094818115234}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6889594793319702},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6841139793395996},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.6101549863815308},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.582653820514679},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.547207236289978},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5410894155502319},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.52440345287323},{"id":"https://openalex.org/C79334102","wikidata":"https://www.wikidata.org/wiki/Q3072268","display_name":"Ensemble Kalman filter","level":4,"score":0.5030214190483093},{"id":"https://openalex.org/C137685913","wikidata":"https://www.wikidata.org/wiki/Q4316763","display_name":"Nonlinear filter","level":4,"score":0.4526403546333313},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.4146266281604767},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3854241371154785},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.29989272356033325},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29007190465927124},{"id":"https://openalex.org/C22597639","wikidata":"https://www.wikidata.org/wiki/Q5449227","display_name":"Filter design","level":3,"score":0.20751094818115234},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"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":1,"locations":[{"id":"doi:10.1109/cacre50138.2020.9230004","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacre50138.2020.9230004","pdf_url":null,"source":{"id":"https://openalex.org/S4306498616","display_name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1972924676","https://openalex.org/W2122369856","https://openalex.org/W2359407428","https://openalex.org/W2395745097","https://openalex.org/W2493529707","https://openalex.org/W2560332100","https://openalex.org/W2751399508","https://openalex.org/W2753743009","https://openalex.org/W2783323062","https://openalex.org/W2897048991","https://openalex.org/W3009306727","https://openalex.org/W6712298384"],"related_works":["https://openalex.org/W4206024512","https://openalex.org/W2053335193","https://openalex.org/W2188632562","https://openalex.org/W2394115825","https://openalex.org/W4233326390","https://openalex.org/W2533888311","https://openalex.org/W1742743063","https://openalex.org/W4246354917","https://openalex.org/W2012543870","https://openalex.org/W3178140192"],"abstract_inverted_index":{"The":[0,131,168],"navigational":[1,181],"positioning":[2,182],"accuracy":[3,159],"of":[4,15,24,148,160,183],"a":[5,92],"seabed":[6,186],"mining":[7,25,48,187],"vehicle":[8,49],"not":[9,143],"only":[10,144],"directly":[11],"affects":[12,19],"the":[13,20,31,88,117,122,137,146,158],"efficiency":[14],"aggregation,":[16],"but":[17,154],"also":[18,155],"reliability":[21],"and":[22,43,72,79,100,110],"stability":[23],"operations.":[26],"In":[27],"order":[28],"to":[29,164],"determine":[30],"noise":[32,70],"reduction":[33],"filtering":[34,113],"algorithm,":[35],"Which":[36],"is":[37,63,102,177],"most":[38],"suitable":[39],"for":[40,128,180],"state":[41,129],"estimation":[42,45,62,95,140,162],"position":[44,61,94,139,161,166],"models":[46],"in":[47],"sea":[50],"trials,":[51],"an":[52,67,173],"Adaptive":[53],"Kalman":[54,76,81,119],"Filter":[55,108,151],"(AKF)":[56],"based":[57,86,97,171],"on":[58,87,98,172],"linear":[59],"self-navigation":[60,165],"first":[64],"proposed":[65],"under":[66,136],"ideal":[68],"Gaussian":[69,105],"model":[71,96],"compared":[73,163],"With":[74],"conventional":[75,149],"filter":[77,82],"(KF)":[78],"Innovation":[80],"(IKF)":[83],"algorithms.":[84],"Secondly,":[85],"underwater":[89,174],"projection":[90,175],"observatory,":[91],"nonlinear":[93,138],"distance":[99],"angle":[101],"proposed,":[103],"introducing":[104],"noise.":[106],"Particle":[107,120,150],"(PF)":[109,152],"improved":[111],"particle":[112],"algorithms":[114],"such":[115],"as":[116],"Unscented":[118],"Filter(UPF),":[121],"Extended":[123],"kalman":[124],"Filter(EPF)":[125],"are":[126],"used":[127],"estimation.":[130,167],"simulation":[132],"results":[133],"show":[134],"that":[135],"model,":[141],"UPF":[142,169],"solves":[145],"problem":[147],"divergence,":[153],"significantly":[156],"improves":[157],"algorithm":[170],"observatory":[176],"best":[178],"suited":[179],"polymetallic":[184],"nodule":[185],"vehicles.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}