{"id":"https://openalex.org/W7123362960","doi":"https://doi.org/10.1109/cdc57313.2025.11312524","title":"On the Impact of Optimized Stochastic Error Modeling on the Performance of EKF-based Baro-aided INS","display_name":"On the Impact of Optimized Stochastic Error Modeling on the Performance of EKF-based Baro-aided INS","publication_year":2025,"publication_date":"2025-12-09","ids":{"openalex":"https://openalex.org/W7123362960","doi":"https://doi.org/10.1109/cdc57313.2025.11312524"},"language":null,"primary_location":{"id":"doi:10.1109/cdc57313.2025.11312524","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc57313.2025.11312524","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 64th 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/A5113429997","display_name":"Vin\u00edcius M. G. B. Cavalcanti","orcid":null},"institutions":[{"id":"https://openalex.org/I3018965473","display_name":"Instituto Federal Fluminense","ror":"https://ror.org/0009eqg37","country_code":"BR","type":"education","lineage":["https://openalex.org/I3018965473"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Vin\u00edcius M. G. B. Cavalcanti","raw_affiliation_strings":["Science and Technology (IFF),Fluminense Federal Institute of Education,Dept. of Electrothecnics and Automation,Itaboraí,RJ,Brazil,24804-162"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Science and Technology (IFF),Fluminense Federal Institute of Education,Dept. of Electrothecnics and Automation,Itaboraí,RJ,Brazil,24804-162","institution_ids":["https://openalex.org/I3018965473"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005788663","display_name":"Felipe O. Silva","orcid":"https://orcid.org/0000-0002-3715-7023"},"institutions":[{"id":"https://openalex.org/I1315085146","display_name":"Universidade Federal de Lavras","ror":"https://ror.org/0122bmm03","country_code":"BR","type":"education","lineage":["https://openalex.org/I1315085146"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Felipe O. Silva","raw_affiliation_strings":["Federal University of Lavras (UFLA),Dept. of Automatics,Lavras,MG,Brazil,37203-202"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Federal University of Lavras (UFLA),Dept. of Automatics,Lavras,MG,Brazil,37203-202","institution_ids":["https://openalex.org/I1315085146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122903510","display_name":"Carlos Renato C. Dur\u00e3o","orcid":null},"institutions":[{"id":"https://openalex.org/I1315085146","display_name":"Universidade Federal de Lavras","ror":"https://ror.org/0122bmm03","country_code":"BR","type":"education","lineage":["https://openalex.org/I1315085146"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Carlos Renato C. Dur\u00e3o","raw_affiliation_strings":["Federal University of Lavras (UFLA),Dept. of Automatics,Lavras,MG,Brazil,37203-202"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Federal University of Lavras (UFLA),Dept. of Automatics,Lavras,MG,Brazil,37203-202","institution_ids":["https://openalex.org/I1315085146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122871765","display_name":"Guillermo E. V. Hernandez","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087059","display_name":"Technology Innovation Institute","ror":"https://ror.org/001kv2y39","country_code":"AE","type":"facility","lineage":["https://openalex.org/I4210087059"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Guillermo E. V. Hernandez","raw_affiliation_strings":["Technology Innovation Institute (TII),Autonomous Robotics Research Center,Masdar City,UAE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technology Innovation Institute (TII),Autonomous Robotics Research Center,Masdar City,UAE","institution_ids":["https://openalex.org/I4210087059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115648474","display_name":"Tommaso Castiglione Ferrari","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087059","display_name":"Technology Innovation Institute","ror":"https://ror.org/001kv2y39","country_code":"AE","type":"facility","lineage":["https://openalex.org/I4210087059"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Tommaso C. Ferrari","raw_affiliation_strings":["Technology Innovation Institute (TII),Autonomous Robotics Research Center,Masdar City,UAE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technology Innovation Institute (TII),Autonomous Robotics Research Center,Masdar City,UAE","institution_ids":["https://openalex.org/I4210087059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011941487","display_name":"Cristino de Souza","orcid":"https://orcid.org/0000-0002-0611-9606"},"institutions":[{"id":"https://openalex.org/I4210087059","display_name":"Technology Innovation Institute","ror":"https://ror.org/001kv2y39","country_code":"AE","type":"facility","lineage":["https://openalex.org/I4210087059"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Cristino de Souza","raw_affiliation_strings":["Technology Innovation Institute (TII),Autonomous Robotics Research Center,Masdar City,UAE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technology Innovation Institute (TII),Autonomous Robotics Research Center,Masdar City,UAE","institution_ids":["https://openalex.org/I4210087059"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084884757","display_name":"Jay A. Farrell","orcid":"https://orcid.org/0000-0002-2077-8691"},"institutions":[{"id":"https://openalex.org/I4210093012","display_name":"Nippon Zoki (Japan)","ror":"https://ror.org/00f86gt02","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210093012"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jay A. Farrell","raw_affiliation_strings":["Zoox, Inc.,Calibration, Localization, and Mapping Team,USA,94404"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zoox, Inc.,Calibration, Localization, and Mapping Team,USA,94404","institution_ids":["https://openalex.org/I4210093012"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5113429997"],"corresponding_institution_ids":["https://openalex.org/I3018965473"],"apc_list":null,"apc_paid":null,"fwci":4.6178,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.96130069,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"488","last_page":"495"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.8176000118255615,"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":0.8176000118255615,"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":0.0843999981880188,"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/T10655","display_name":"GNSS positioning and interference","score":0.05310000106692314,"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/inertial-navigation-system","display_name":"Inertial navigation system","score":0.7856000065803528},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6930999755859375},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5360000133514404},{"id":"https://openalex.org/keywords/allan-variance","display_name":"Allan variance","score":0.521399974822998},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.4819999933242798},{"id":"https://openalex.org/keywords/gps/ins","display_name":"GPS/INS","score":0.46880000829696655},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.46059998869895935},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4032000005245209},{"id":"https://openalex.org/keywords/stochastic-modelling","display_name":"Stochastic modelling","score":0.3993000090122223},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.3862000107765198}],"concepts":[{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.7856000065803528},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6930999755859375},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5360000133514404},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5353999733924866},{"id":"https://openalex.org/C5722023","wikidata":"https://www.wikidata.org/wiki/Q1440227","display_name":"Allan variance","level":3,"score":0.521399974822998},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.4819999933242798},{"id":"https://openalex.org/C193183557","wikidata":"https://www.wikidata.org/wiki/Q195126","display_name":"GPS/INS","level":4,"score":0.46880000829696655},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.46059998869895935},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4032000005245209},{"id":"https://openalex.org/C127491075","wikidata":"https://www.wikidata.org/wiki/Q7617825","display_name":"Stochastic modelling","level":2,"score":0.3993000090122223},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.3862000107765198},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.3677000105381012},{"id":"https://openalex.org/C179024874","wikidata":"https://www.wikidata.org/wiki/Q5395728","display_name":"Errors-in-variables models","level":2,"score":0.35760000348091125},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.3431999981403351},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.33799999952316284},{"id":"https://openalex.org/C39425265","wikidata":"https://www.wikidata.org/wiki/Q7098944","display_name":"Optimal estimation","level":2,"score":0.3280999958515167},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.32109999656677246},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.3154999911785126},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.30660000443458557},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30570000410079956},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.304500013589859},{"id":"https://openalex.org/C103088060","wikidata":"https://www.wikidata.org/wiki/Q1062839","display_name":"Error detection and correction","level":2,"score":0.295199990272522},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28220000863075256},{"id":"https://openalex.org/C2778027091","wikidata":"https://www.wikidata.org/wiki/Q25346003","display_name":"Satellite system","level":4,"score":0.2768000066280365},{"id":"https://openalex.org/C19619285","wikidata":"https://www.wikidata.org/wiki/Q196372","display_name":"Observational error","level":2,"score":0.27639999985694885},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2754000127315521},{"id":"https://openalex.org/C8272713","wikidata":"https://www.wikidata.org/wiki/Q176737","display_name":"Stochastic process","level":2,"score":0.26460000872612},{"id":"https://openalex.org/C3018824978","wikidata":"https://www.wikidata.org/wiki/Q2894891","display_name":"Error analysis","level":2,"score":0.25859999656677246},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.25619998574256897},{"id":"https://openalex.org/C90652560","wikidata":"https://www.wikidata.org/wiki/Q11091747","display_name":"Minimum mean square error","level":3,"score":0.25600001215934753},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.25450000166893005},{"id":"https://openalex.org/C107645828","wikidata":"https://www.wikidata.org/wiki/Q12070446","display_name":"System model","level":2,"score":0.2533000111579895},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.25220000743865967}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc57313.2025.11312524","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc57313.2025.11312524","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 64th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320308239","display_name":"EMI","ror":"https://ror.org/01qstkr73"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Sensors\u2019":[0],"stochastic":[1,59,75],"error":[2,76,112],"modeling":[3],"is":[4,92,131,137],"of":[5],"utmost":[6],"importance":[7],"for":[8,27,107],"sensitive":[9],"navigation":[10,80,135],"applications.":[11],"Accelerometers,":[12],"rate":[13],"gyros":[14],"and":[15,64,78,94,133],"barometers":[16],"are":[17],"examples,":[18],"whose":[19],"measurements":[20],"need":[21],"to":[22,42,56,104],"be":[23],"calibrated":[24],"in":[25],"real-time":[26],"high-performance":[28],"estimation.":[29],"This":[30],"work":[31],"revisits":[32],"the":[33,58,62,67,109,134],"sensors":[34,63],"aiding/integration/fusion":[35],"problem":[36],"via":[37,139],"Extended":[38],"Kalman":[39],"Filter":[40],"(EKF)":[41],"reliably":[43],"estimate":[44],"a":[45,71,85],"given":[46],"vehicle":[47],"state.":[48],"Historically,":[49],"Allan":[50],"Variance":[51],"(AV)":[52],"has":[53],"been":[54],"used":[55],"characterize":[57],"errors":[60],"affecting":[61],"then":[65],"tune":[66],"EKF,":[68],"which":[69],"involves":[70],"trade-off":[72],"between":[73],"optimal":[74,79],"characterization":[77],"performance.":[81],"In":[82,114],"this":[83,115],"sense,":[84],"novel":[86],"Genetic":[87],"Algorithm":[88],"(GA)based":[89],"EKF-tuning":[90],"methodology":[91],"investigated,":[93],"results":[95],"from":[96],"experimentally":[97],"conducted":[98],"tests":[99],"show":[100],"improvements,":[101],"when":[102],"compared":[103],"traditional":[105],"techniques,":[106],"stabilizing":[108],"vertical":[110],"channel":[111],"response.":[113],"work,":[116],"an":[117],"EKF-based":[118],"baroaided":[119],"Inertial":[120],"Navigation":[121,126],"System":[122,128],"(INS)":[123],"under":[124],"Global":[125],"Satellite":[127],"(GNSS)-denied":[129],"conditions":[130],"considered":[132],"performance":[136],"evaluated":[138],"altitude":[140],"Root":[141],"Mean":[142],"Square":[143],"Error":[144],"(RMSE).":[145]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2026-01-14T00:00:00"}