{"id":"https://openalex.org/W2003016834","doi":"https://doi.org/10.1109/cdc.2011.6161262","title":"A simple nonlinear filter for low-cost ground vehicle localization system","display_name":"A simple nonlinear filter for low-cost ground vehicle localization system","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2003016834","doi":"https://doi.org/10.1109/cdc.2011.6161262","mag":"2003016834"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2011.6161262","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6161262","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/A5037120106","display_name":"Silv\u00e8re Bonnabel","orcid":"https://orcid.org/0000-0002-6001-7766"},"institutions":[{"id":"https://openalex.org/I4403386650","display_name":"Centre de Robotique","ror":"https://ror.org/0180r7w69","country_code":null,"type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4403386650","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Silvere Bonnabel","raw_affiliation_strings":["Centre de robotique, Mines Paris-Technology, Paris, France","Centre de robotique, MINES ParisTech, 75272, France"],"affiliations":[{"raw_affiliation_string":"Centre de robotique, Mines Paris-Technology, Paris, France","institution_ids":["https://openalex.org/I70768539","https://openalex.org/I4403386650"]},{"raw_affiliation_string":"Centre de robotique, MINES ParisTech, 75272, France","institution_ids":["https://openalex.org/I70768539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064543212","display_name":"Jean\u2010Emmanuel Deschaud","orcid":"https://orcid.org/0000-0002-6696-9354"},"institutions":[{"id":"https://openalex.org/I4403386650","display_name":"Centre de Robotique","ror":"https://ror.org/0180r7w69","country_code":null,"type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4403386650","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Emmanuel Deschaud","raw_affiliation_strings":["Centre de robotique, Mines Paris-Technology, Paris, France","Centre de robotique, MINES ParisTech, 75272, France"],"affiliations":[{"raw_affiliation_string":"Centre de robotique, Mines Paris-Technology, Paris, France","institution_ids":["https://openalex.org/I70768539","https://openalex.org/I4403386650"]},{"raw_affiliation_string":"Centre de robotique, MINES ParisTech, 75272, France","institution_ids":["https://openalex.org/I70768539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038320593","display_name":"Erwan Sala\u00fcn","orcid":"https://orcid.org/0000-0003-4393-6696"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erwan Salaun","raw_affiliation_strings":["School of AeroSpace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, 30332-0150 USA"],"affiliations":[{"raw_affiliation_string":"School of AeroSpace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, 30332-0150 USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5037120106"],"corresponding_institution_ids":["https://openalex.org/I4403386650","https://openalex.org/I70768539"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.0622009,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"1997","issue":null,"first_page":"3270","last_page":"3275"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994000196456909,"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":0.9991000294685364,"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/control-theory","display_name":"Control theory (sociology)","score":0.7303659319877625},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6894896030426025},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.6815750598907471},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6112697720527649},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.6054115891456604},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5879835486412048},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5691097974777222},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5678223967552185},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5434976816177368},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4940229058265686},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.4721786081790924},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.46065613627433777},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4602239727973938},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4423287808895111},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4238191843032837},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4193058907985687},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.302945613861084},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1598069667816162},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15752625465393066},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12433522939682007},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.10704022645950317},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10703709721565247},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09797275066375732},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09415826201438904}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7303659319877625},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6894896030426025},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.6815750598907471},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6112697720527649},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.6054115891456604},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5879835486412048},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5691097974777222},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5678223967552185},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5434976816177368},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4940229058265686},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.4721786081790924},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.46065613627433777},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4602239727973938},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4423287808895111},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4238191843032837},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4193058907985687},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.302945613861084},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1598069667816162},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15752625465393066},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12433522939682007},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.10704022645950317},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10703709721565247},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09797275066375732},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09415826201438904},{"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2011.6161262","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6161262","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":[{"score":0.8299999833106995,"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":18,"referenced_works":["https://openalex.org/W1994993102","https://openalex.org/W2049565613","https://openalex.org/W2077013278","https://openalex.org/W2125691646","https://openalex.org/W2125714339","https://openalex.org/W2127755734","https://openalex.org/W2132131672","https://openalex.org/W2136517446","https://openalex.org/W2160626949","https://openalex.org/W2162764076","https://openalex.org/W2164769497","https://openalex.org/W2168478887","https://openalex.org/W2169772828","https://openalex.org/W2169983765","https://openalex.org/W2197742442","https://openalex.org/W3104122060","https://openalex.org/W6678627614","https://openalex.org/W6687387461"],"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/W2359095091","https://openalex.org/W2000754062"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,27,76,81],"simple":[4,82,133],"and":[5,26,65,73,101,122],"intuitive":[6],"nonlinear":[7,83],"observer":[8,39],"for":[9],"low-cost":[10],"ground":[11,77],"vehicle":[12],"localization":[13],"system,":[14],"using":[15],"measurements":[16],"from":[17],"an":[18],"inertial":[19],"measurement":[20],"unit,":[21],"two":[22],"wheel":[23],"speed":[24],"sensors,":[25],"GPS.":[28],"Taking":[29],"advantage":[30],"of":[31,37,44,75,89,131],"the":[32,35,38,45,59,62,66,70,87,92,109,128],"nonholonomic":[33],"constraints,":[34],"design":[36],"takes":[40],"into":[41],"account":[42],"imperfections":[43],"embedded":[46],"sensors":[47],"measurements,":[48],"such":[49],"as":[50],"slowly":[51],"time-varying":[52],"gyroscope":[53],"biases":[54],"or":[55],"some":[56,113],"uncertainty":[57],"on":[58,86],"angle":[60],"between":[61],"vehicle's":[63],"frame":[64],"road,":[67],"to":[68,80,96,99],"estimate":[69],"attitude,":[71],"velocity":[72],"position":[74],"vehicle.":[78],"Thanks":[79],"structure":[84],"based":[85],"theory":[88],"symmetry-preserving":[90],"observers,":[91],"estimator":[93],"is":[94,119],"easy":[95,98],"tune,":[97],"implement,":[100],"well-behaved":[102],"even":[103],"at":[104],"very":[105],"low":[106],"speed.":[107],"Moreover,":[108],"proposed":[110],"filter":[111],"presents":[112],"guaranteed":[114],"convergence":[115],"properties":[116],"when":[117],"GPS":[118],"available.":[120],"Simulations":[121],"experiments":[123],"in":[124],"urban":[125],"area":[126],"illustrate":[127],"good":[129],"performances":[130],"this":[132],"algorithm.":[134]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}