{"id":"https://openalex.org/W1988450567","doi":"https://doi.org/10.1109/cdc.2011.6160733","title":"Invariant Extended Kalman Filter design for a magnetometer-plus-GPS aided inertial navigation system","display_name":"Invariant Extended Kalman Filter design for a magnetometer-plus-GPS aided inertial navigation system","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W1988450567","doi":"https://doi.org/10.1109/cdc.2011.6160733","mag":"1988450567"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2011.6160733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160733","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","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/A5109043335","display_name":"Martin Barczyk","orcid":null},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Martin Barczyk","raw_affiliation_strings":["Department of ECE, University of Alberta, Edmonton, AB, Canada","Dept. of ECE, University of Alberta, Edmonton, T6G 2V4, Canada"],"affiliations":[{"raw_affiliation_string":"Department of ECE, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"Dept. of ECE, University of Alberta, Edmonton, T6G 2V4, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051625545","display_name":"Alan F. Lynch","orcid":"https://orcid.org/0000-0002-0939-534X"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Alan F. Lynch","raw_affiliation_strings":["Department of ECE, University of Alberta, Edmonton, AB, Canada","Dept. of ECE, University of Alberta, Edmonton, T6G 2V4, Canada"],"affiliations":[{"raw_affiliation_string":"Department of ECE, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"Dept. of ECE, University of Alberta, Edmonton, T6G 2V4, Canada","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5109043335"],"corresponding_institution_ids":["https://openalex.org/I154425047"],"apc_list":null,"apc_paid":null,"fwci":5.1356,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.94243816,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5389","last_page":"5394"},"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9993000030517578,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9984999895095825,"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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7758097648620605},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.7137265205383301},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6916478872299194},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.6217519640922546},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.611734926700592},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.6080254912376404},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5769258737564087},{"id":"https://openalex.org/keywords/alpha-beta-filter","display_name":"Alpha beta filter","score":0.5386021733283997},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4936915338039398},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48843684792518616},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.47983404994010925},{"id":"https://openalex.org/keywords/constructive","display_name":"Constructive","score":0.4633316099643707},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4593428075313568},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.43334251642227173},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33555346727371216},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2993232011795044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2770532965660095},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26283225417137146},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12134361267089844},{"id":"https://openalex.org/keywords/moving-horizon-estimation","display_name":"Moving horizon estimation","score":0.10570085048675537}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7758097648620605},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.7137265205383301},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6916478872299194},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.6217519640922546},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.611734926700592},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.6080254912376404},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5769258737564087},{"id":"https://openalex.org/C11588082","wikidata":"https://www.wikidata.org/wiki/Q4735154","display_name":"Alpha beta filter","level":5,"score":0.5386021733283997},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4936915338039398},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48843684792518616},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.47983404994010925},{"id":"https://openalex.org/C2778701210","wikidata":"https://www.wikidata.org/wiki/Q28130034","display_name":"Constructive","level":3,"score":0.4633316099643707},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4593428075313568},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.43334251642227173},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33555346727371216},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2993232011795044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2770532965660095},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26283225417137146},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12134361267089844},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.10570085048675537},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2011.6160733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160733","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7200000286102295,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321672","display_name":"Else Kr\u00f6ner-Fresenius-Stiftung","ror":"https://ror.org/03zcxha54"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W290527292","https://openalex.org/W592904438","https://openalex.org/W1500564636","https://openalex.org/W1804494423","https://openalex.org/W1964373008","https://openalex.org/W1991332019","https://openalex.org/W1996647945","https://openalex.org/W2107929215","https://openalex.org/W2132240870","https://openalex.org/W2136517446","https://openalex.org/W2137448549","https://openalex.org/W2138651320","https://openalex.org/W2146287323","https://openalex.org/W2169772828","https://openalex.org/W2270271389","https://openalex.org/W2323756782","https://openalex.org/W3029676955","https://openalex.org/W3104122060","https://openalex.org/W4251766996","https://openalex.org/W4285719527","https://openalex.org/W6675933666"],"related_works":["https://openalex.org/W2772311278","https://openalex.org/W4206024512","https://openalex.org/W2053335193","https://openalex.org/W2359845109","https://openalex.org/W2345787805","https://openalex.org/W1035502194","https://openalex.org/W2062949162","https://openalex.org/W763070688","https://openalex.org/W2620612096","https://openalex.org/W4310470578"],"abstract_inverted_index":{"We":[0,44],"introduce":[1],"a":[2,9,35,61,80,108],"magnetometer-plus-GPS":[3],"aided":[4],"inertial":[5],"navigation":[6,20],"system":[7],"for":[8,53],"helicopter":[10],"UAV.":[11],"A":[12,28],"nonlinear":[13,66],"observer":[14,52,59],"is":[15,31,94],"required":[16],"to":[17,40,83],"estimate":[18],"the":[19,32,46,65,77,85],"states,":[21],"typically":[22],"an":[23,50,57,74,88,103],"Extended":[24],"Kalman":[25],"Filter":[26],"(EKF).":[27],"novel":[29],"approach":[30,82],"invariant":[33,51,58,89],"observer,":[34],"constructive":[36],"design":[37,49,93],"method":[38],"applicable":[39],"systems":[41],"possessing":[42],"symmetries.":[43],"review":[45],"theory":[47],"and":[48,97,101],"our":[54],"example.":[55],"Using":[56],"guarantees":[60],"simplified":[62],"form":[63],"of":[64,76,87],"estimation":[67],"error":[68],"dynamics.":[69],"These":[70],"are":[71],"stabilized":[72],"using":[73],"adaptation":[75],"Invariant":[78],"EKF,":[79],"systematic":[81],"compute":[84],"gains":[86],"observer.":[90],"The":[91],"resulting":[92],"successfully":[95],"implemented":[96],"validated":[98],"in":[99,105],"experiment":[100],"shows":[102],"improvement":[104],"performance":[106],"over":[107],"conventional":[109],"EKF.":[110]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
