{"id":"https://openalex.org/W3120295016","doi":"https://doi.org/10.1109/cdc42340.2020.9304269","title":"Observers Design for Inertial Navigation Systems: A Brief Tutorial","display_name":"Observers Design for Inertial Navigation Systems: A Brief Tutorial","publication_year":2020,"publication_date":"2020-12-14","ids":{"openalex":"https://openalex.org/W3120295016","doi":"https://doi.org/10.1109/cdc42340.2020.9304269","mag":"3120295016"},"language":"en","primary_location":{"id":"doi:10.1109/cdc42340.2020.9304269","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc42340.2020.9304269","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 59th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100343762","display_name":"Miaomiao Wang","orcid":"https://orcid.org/0000-0001-7498-5162"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Miaomiao Wang","raw_affiliation_strings":["Western University,Department of Electrical and Computer Engineering,London,ON,Canada,N6A 3K7"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Western University,Department of Electrical and Computer Engineering,London,ON,Canada,N6A 3K7","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025598794","display_name":"Abdelhamid Tayebi","orcid":"https://orcid.org/0000-0002-9049-4651"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]},{"id":"https://openalex.org/I72541430","display_name":"Lakehead University","ror":"https://ror.org/023p7mg82","country_code":"CA","type":"education","lineage":["https://openalex.org/I72541430"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Abdelhamid Tayebi","raw_affiliation_strings":["Western University,Department of Electrical and Computer Engineering,London,ON,Canada,N6A 3K7","Lakehead University, Thunder Bay, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Western University,Department of Electrical and Computer Engineering,London,ON,Canada,N6A 3K7","institution_ids":["https://openalex.org/I125749732"]},{"raw_affiliation_string":"Lakehead University, Thunder Bay, ON, Canada","institution_ids":["https://openalex.org/I72541430"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.179,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.92669791,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1320","last_page":"1327"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":1.0,"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":1.0,"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/T11405","display_name":"Geophysics and Gravity Measurements","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7763988375663757},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6587584614753723},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6393854022026062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6217676401138306},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5798089504241943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5610306859016418},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.5313805937767029},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5105558633804321},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4990863800048828},{"id":"https://openalex.org/keywords/aerospace","display_name":"Aerospace","score":0.4967873692512512},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4717358350753784},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.45879337191581726},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4513031244277954},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4480823874473572},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4128923714160919},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.41036438941955566},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40393856167793274},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38161516189575195},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3052405118942261},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21201413869857788},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1873946487903595},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18036916851997375},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.11727949976921082}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7763988375663757},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6587584614753723},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6393854022026062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6217676401138306},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5798089504241943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5610306859016418},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.5313805937767029},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5105558633804321},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4990863800048828},{"id":"https://openalex.org/C167740415","wikidata":"https://www.wikidata.org/wiki/Q2876213","display_name":"Aerospace","level":2,"score":0.4967873692512512},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4717358350753784},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.45879337191581726},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4513031244277954},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4480823874473572},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4128923714160919},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.41036438941955566},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40393856167793274},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38161516189575195},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3052405118942261},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21201413869857788},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1873946487903595},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18036916851997375},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.11727949976921082},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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},{"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/cdc42340.2020.9304269","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc42340.2020.9304269","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 59th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1515493836","https://openalex.org/W1569239057","https://openalex.org/W1639331959","https://openalex.org/W1804494423","https://openalex.org/W1943808550","https://openalex.org/W2006863675","https://openalex.org/W2021503353","https://openalex.org/W2033819227","https://openalex.org/W2036003290","https://openalex.org/W2041746234","https://openalex.org/W2049918078","https://openalex.org/W2051349034","https://openalex.org/W2053442363","https://openalex.org/W2060204033","https://openalex.org/W2063005413","https://openalex.org/W2068721705","https://openalex.org/W2074535974","https://openalex.org/W2082261660","https://openalex.org/W2090347046","https://openalex.org/W2094201513","https://openalex.org/W2099308299","https://openalex.org/W2107929215","https://openalex.org/W2117102490","https://openalex.org/W2118223742","https://openalex.org/W2125691646","https://openalex.org/W2128972576","https://openalex.org/W2132240870","https://openalex.org/W2136517446","https://openalex.org/W2143083305","https://openalex.org/W2169772828","https://openalex.org/W2171133852","https://openalex.org/W2244651041","https://openalex.org/W2290171771","https://openalex.org/W2467377838","https://openalex.org/W2511944356","https://openalex.org/W2600460659","https://openalex.org/W2614729243","https://openalex.org/W2614898534","https://openalex.org/W2623629928","https://openalex.org/W2783919363","https://openalex.org/W2884988504","https://openalex.org/W2944404121","https://openalex.org/W2950202372","https://openalex.org/W2967959422","https://openalex.org/W3089105113","https://openalex.org/W3103458591","https://openalex.org/W3104122060","https://openalex.org/W3105104456","https://openalex.org/W6679288872"],"related_works":["https://openalex.org/W2056853153","https://openalex.org/W2057559274","https://openalex.org/W2005087563","https://openalex.org/W2128405419","https://openalex.org/W2156842304","https://openalex.org/W2385234200","https://openalex.org/W2394248547","https://openalex.org/W4313886815","https://openalex.org/W2773722138","https://openalex.org/W2038183074"],"abstract_inverted_index":{"The":[0,87],"design":[1],"of":[2,15,58,62,68,72,89,98],"navigation":[3,74,114],"observers":[4,75],"able":[5],"to":[6,46,82,94],"simultaneously":[7],"estimate":[8],"the":[9,37,56,66,99],"position,":[10],"linear":[11],"velocity":[12],"and":[13,27,41,122],"orientation":[14],"a":[16,19,69],"vehicle":[17],"in":[18,24,49],"three-dimensional":[20],"space":[21],"is":[22,93],"crucial":[23],"many":[25,50],"robotics":[26],"aerospace":[28],"applications.":[29,52],"This":[30],"problem":[31],"was":[32],"mainly":[33],"dealt":[34],"with":[35],"using":[36],"extended":[38],"Kalman":[39],"filter":[40],"its":[42],"variants":[43],"which":[44],"proved":[45],"be":[47],"instrumental":[48],"practical":[51],"Although":[53],"practically":[54],"efficient,":[55],"lack":[57],"strong":[59,84],"stability":[60,85],"guarantees":[61],"these":[63],"algorithms":[64],"motivated":[65],"emergence":[67],"new":[70],"class":[71],"geometric":[73,109],"relying":[76,116],"on":[77,117],"Riemannian":[78],"geometry":[79],"tools,":[80],"leading":[81],"provable":[83],"properties.":[86],"objective":[88],"this":[90],"brief":[91],"tutorial":[92],"provide":[95],"an":[96],"overview":[97],"existing":[100],"estimation":[101],"schemes,":[102],"as":[103,105],"well":[104],"some":[106],"recently":[107],"developed":[108],"nonlinear":[110],"observers,":[111],"for":[112],"autonomous":[113],"systems":[115],"inertial":[118],"measurement":[119],"unit":[120],"(IMU)":[121],"landmark":[123],"measurements.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}