{"id":"https://openalex.org/W4407987982","doi":"https://doi.org/10.1109/cdc56724.2024.10885814","title":"Consistent Rigid Body Localization from Range Measurements with Anchor Position Uncertainty","display_name":"Consistent Rigid Body Localization from Range Measurements with Anchor Position Uncertainty","publication_year":2024,"publication_date":"2024-12-16","ids":{"openalex":"https://openalex.org/W4407987982","doi":"https://doi.org/10.1109/cdc56724.2024.10885814"},"language":"en","primary_location":{"id":"doi:10.1109/cdc56724.2024.10885814","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc56724.2024.10885814","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 63rd Conference on Decision and Control (CDC)","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/A5102969830","display_name":"Hongxu Zhao","orcid":"https://orcid.org/0000-0003-2782-1450"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongxu Zhao","raw_affiliation_strings":["the Chinese University of HongKong, Shenzhen,School of Data Science,Shenzhen,P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the Chinese University of HongKong, Shenzhen,School of Data Science,Shenzhen,P. R. China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037538275","display_name":"Guangyang Zeng","orcid":"https://orcid.org/0000-0002-3093-3982"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangyang Zeng","raw_affiliation_strings":["the Chinese University of HongKong, Shenzhen,School of Data Science,Shenzhen,P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the Chinese University of HongKong, Shenzhen,School of Data Science,Shenzhen,P. R. China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hongdong Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongdong Jiang","raw_affiliation_strings":["the Chinese University of HongKong, Shenzhen,School of Data Science,Shenzhen,P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the Chinese University of HongKong, Shenzhen,School of Data Science,Shenzhen,P. R. China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070014635","display_name":"Xiaoqiang Ren","orcid":"https://orcid.org/0000-0001-6674-4553"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoqiang Ren","raw_affiliation_strings":["Shanghai University,School of Mechatronic Engineering and Automation,Shanghai,P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University,School of Mechatronic Engineering and Automation,Shanghai,P. R. China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068390483","display_name":"Wen Yang","orcid":"https://orcid.org/0000-0003-4943-7919"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen Yang","raw_affiliation_strings":["East China University of Science and Technology,School of Information Science and Engineering,Shanghai,P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"East China University of Science and Technology,School of Information Science and Engineering,Shanghai,P. R. China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100677470","display_name":"Junfeng Wu","orcid":"https://orcid.org/0000-0002-7125-3748"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junfeng Wu","raw_affiliation_strings":["the Chinese University of HongKong, Shenzhen,School of Data Science,Shenzhen,P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the Chinese University of HongKong, Shenzhen,School of Data Science,Shenzhen,P. R. China","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2655,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.89695917,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"4220","last_page":"4226"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9932000041007996,"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":0.9904000163078308,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6715660691261292},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5798318982124329},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.499814510345459},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4804810583591461},{"id":"https://openalex.org/keywords/body-position","display_name":"Body position","score":0.4231272339820862},{"id":"https://openalex.org/keywords/measurement-uncertainty","display_name":"Measurement uncertainty","score":0.4168759286403656},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2468986213207245},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2117389738559723},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18088886141777039},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.13356047868728638},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12277096509933472},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.06893929839134216},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.06856381893157959}],"concepts":[{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6715660691261292},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5798318982124329},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.499814510345459},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4804810583591461},{"id":"https://openalex.org/C3020507314","wikidata":"https://www.wikidata.org/wiki/Q29034095","display_name":"Body position","level":2,"score":0.4231272339820862},{"id":"https://openalex.org/C137209882","wikidata":"https://www.wikidata.org/wiki/Q1403517","display_name":"Measurement uncertainty","level":2,"score":0.4168759286403656},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2468986213207245},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2117389738559723},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18088886141777039},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.13356047868728638},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12277096509933472},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.06893929839134216},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.06856381893157959},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc56724.2024.10885814","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc56724.2024.10885814","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 63rd Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321885","display_name":"Science and Technology Commission of Shanghai Municipality","ror":"https://ror.org/03kt66j61"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1965524079","https://openalex.org/W1997917355","https://openalex.org/W2111166153","https://openalex.org/W2344474200","https://openalex.org/W2461385458","https://openalex.org/W2545729405","https://openalex.org/W2569500671","https://openalex.org/W2771588842","https://openalex.org/W2968704747","https://openalex.org/W2972310519","https://openalex.org/W2994479980","https://openalex.org/W3000029267","https://openalex.org/W3088020640","https://openalex.org/W3150200613","https://openalex.org/W4213039865","https://openalex.org/W4226201304","https://openalex.org/W4312899924","https://openalex.org/W4383109129","https://openalex.org/W6863254498"],"related_works":["https://openalex.org/W1662187412","https://openalex.org/W3130844878","https://openalex.org/W2385118824","https://openalex.org/W2359476137","https://openalex.org/W2001682292","https://openalex.org/W3031570971","https://openalex.org/W2374717521","https://openalex.org/W84704331","https://openalex.org/W3027283411","https://openalex.org/W4206398185"],"abstract_inverted_index":{"Rigid":[0],"Body":[1],"Localization":[2],"(RBL)":[3],"using":[4,93],"range":[5],"measurements":[6],"has":[7],"recently":[8],"attracted":[9],"much":[10],"attention.":[11],"In":[12,40,81,96],"some":[13],"large":[14],"and":[15,55,78,120],"complicated":[16],"scenarios,":[17],"we":[18,43,68,85,100],"may":[19],"not":[20,62],"obtain":[21],"the":[22,29,36,45,58,82,97,108,113,118],"accurate":[23,121],"positions":[24],"for":[25],"anchors":[26],"deployed":[27],"in":[28],"environment.":[30],"However,":[31],"few":[32],"works":[33],"have":[34],"considered":[35],"anchor":[37,52],"position":[38,53],"uncertainty.":[39],"this":[41],"paper,":[42],"formulate":[44],"Maximum":[46],"Likelihood":[47],"(ML)":[48],"RBL":[49],"problem":[50],"with":[51,91],"uncertainty":[54],"find":[56],"that":[57],"ML":[59],"estimate":[60,90,110],"is":[61,75],"necessarily":[63],"consistent.":[64],"As":[65],"an":[66],"alternative,":[67],"propose":[69],"a":[70,87,102],"two-step":[71],"estimator":[72],"MGN-CULS,":[73],"which":[74],"both":[76],"consistent":[77],"computationally":[79],"efficient.":[80],"first":[83],"step,":[84,99],"develop":[86],"closed-form":[88],"initial":[89,109],"consistency":[92],"bias-eliminating":[94],"techniques.":[95],"second":[98],"design":[101],"modified":[103],"Gauss-Newton":[104],"iteration":[105],"to":[106],"refine":[107],"without":[111],"destabilizing":[112],"consistency.":[114],"Simulation":[115],"results":[116],"demonstrate":[117],"stable":[119],"performance":[122],"of":[123],"our":[124],"proposed":[125],"algorithm.":[126]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
