{"id":"https://openalex.org/W4401414809","doi":"https://doi.org/10.1109/cec60901.2024.10612159","title":"FlexKalmanNet: A Modular AI-Enhanced Kalman Filter Framework Applied to Spacecraft Motion Estimation","display_name":"FlexKalmanNet: A Modular AI-Enhanced Kalman Filter Framework Applied to Spacecraft Motion Estimation","publication_year":2024,"publication_date":"2024-06-30","ids":{"openalex":"https://openalex.org/W4401414809","doi":"https://doi.org/10.1109/cec60901.2024.10612159"},"language":"en","primary_location":{"id":"doi:10.1109/cec60901.2024.10612159","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cec60901.2024.10612159","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Congress on Evolutionary Computation (CEC)","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/A5028589454","display_name":"Moritz Duarte Pinheiro-Torres Vogt","orcid":"https://orcid.org/0000-0002-1409-7240"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Moritz D. Pinheiro-Torres Vogt","raw_affiliation_strings":["TU Berlin,Chair of Space Technology,Berlin,Germany"],"affiliations":[{"raw_affiliation_string":"TU Berlin,Chair of Space Technology,Berlin,Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5096940253","display_name":"Markus Huwald","orcid":"https://orcid.org/0009-0009-3249-4627"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Huwald","raw_affiliation_strings":["TU Berlin,Chair of Space Technology,Berlin,Germany"],"affiliations":[{"raw_affiliation_string":"TU Berlin,Chair of Space Technology,Berlin,Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037201633","display_name":"Mohamed Khalil Ben\u2010Larbi","orcid":"https://orcid.org/0000-0002-8390-9302"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Khalil Ben-Larbi","raw_affiliation_strings":["TU Berlin,Chair of Space Technology,Berlin,Germany"],"affiliations":[{"raw_affiliation_string":"TU Berlin,Chair of Space Technology,Berlin,Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050230053","display_name":"Enrico Stoll","orcid":"https://orcid.org/0000-0002-4760-3445"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Enrico Stoll","raw_affiliation_strings":["TU Berlin,Chair of Space Technology,Berlin,Germany"],"affiliations":[{"raw_affiliation_string":"TU Berlin,Chair of Space Technology,Berlin,Germany","institution_ids":["https://openalex.org/I4577782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5028589454"],"corresponding_institution_ids":["https://openalex.org/I4577782"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.061682,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9980000257492065,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9890000224113464,"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/kalman-filter","display_name":"Kalman filter","score":0.8647952675819397},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.7260139584541321},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.696659505367279},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.689935564994812},{"id":"https://openalex.org/keywords/fast-kalman-filter","display_name":"Fast Kalman filter","score":0.6572791337966919},{"id":"https://openalex.org/keywords/moving-horizon-estimation","display_name":"Moving horizon estimation","score":0.6419302225112915},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6413056254386902},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.4764966368675232},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.45145687460899353},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44803309440612793},{"id":"https://openalex.org/keywords/alpha-beta-filter","display_name":"Alpha beta filter","score":0.43104010820388794},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4248031973838806},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40564531087875366},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3598148226737976},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33459922671318054},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19885119795799255},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.18251630663871765}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.8647952675819397},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.7260139584541321},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.696659505367279},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.689935564994812},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.6572791337966919},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.6419302225112915},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6413056254386902},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.4764966368675232},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.45145687460899353},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44803309440612793},{"id":"https://openalex.org/C11588082","wikidata":"https://www.wikidata.org/wiki/Q4735154","display_name":"Alpha beta filter","level":5,"score":0.43104010820388794},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4248031973838806},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40564531087875366},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3598148226737976},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33459922671318054},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19885119795799255},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.18251630663871765},{"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/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/cec60901.2024.10612159","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cec60901.2024.10612159","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Congress on Evolutionary Computation (CEC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1977318629","https://openalex.org/W2330323296","https://openalex.org/W2502569300","https://openalex.org/W2804882676","https://openalex.org/W2910486228","https://openalex.org/W2978631110","https://openalex.org/W3011954177","https://openalex.org/W3088317923","https://openalex.org/W3160166964","https://openalex.org/W3160206926","https://openalex.org/W3183282730","https://openalex.org/W4280538742","https://openalex.org/W4287660544","https://openalex.org/W4383909160","https://openalex.org/W6754699015","https://openalex.org/W6760201928"],"related_works":["https://openalex.org/W1506303183","https://openalex.org/W2182059946","https://openalex.org/W2150837402","https://openalex.org/W2152504883","https://openalex.org/W2363340733","https://openalex.org/W2396654980","https://openalex.org/W4252648412","https://openalex.org/W4313056238","https://openalex.org/W3145243278","https://openalex.org/W2332797954"],"abstract_inverted_index":{"The":[0,163],"estimation":[1,60],"of":[2,31,152],"relative":[3],"motion":[4,59],"between":[5],"spacecraft":[6,158],"increasingly":[7],"relies":[8],"on":[9,128,148],"feature-matching":[10],"computer":[11],"vision,":[12],"which":[13],"feeds":[14],"data":[15,134,141],"into":[16],"a":[17,40,50,92,111],"recursive":[18],"filtering":[19],"algorithm.":[20],"Kalman":[21,57,71,85,107,155,179],"filters,":[22],"although":[23],"efficient":[24],"in":[25],"noise":[26,34],"compensation,":[27],"demand":[28],"extensive":[29],"tuning":[30],"system":[32],"and":[33,160,172],"models.":[35],"This":[36,88,117],"paper":[37],"introduces":[38],"FlexKalmanNet,":[39],"novel":[41],"modular":[42],"framework":[43],"that":[44],"bridges":[45],"this":[46],"gap":[47],"by":[48],"integrating":[49],"deep":[51],"fully":[52],"connected":[53],"neural":[54,103,114],"network":[55,104,115,130],"with":[56,79],"filter-based":[58],"algorithms.":[61],"FlexKalmanNet's":[62,166],"core":[63],"innovation":[64],"is":[65,89],"its":[66],"ability":[67],"to":[68,82,96,105],"learn":[69],"any":[70],"filter":[72,86,108,156],"parameter":[73],"directly":[74],"from":[75,101,142],"measurement":[76],"data,":[77],"coupled":[78],"the":[80,98,102,106,126],"flexibility":[81],"utilize":[83],"various":[84],"variants.":[87],"achieved":[90],"through":[91],"notable":[93],"design":[94],"decision":[95],"outsource":[97],"sequential":[99],"computation":[100],"variant,":[109],"enabling":[110],"purely":[112],"feedforward":[113],"architecture.":[116],"architecture,":[118],"proficient":[119],"at":[120],"handling":[121],"complex,":[122],"nonlinear":[123],"features":[124],"without":[125],"dependency":[127],"recurrent":[129],"modules,":[131],"captures":[132],"global":[133],"patterns":[135],"more":[136],"effectively.":[137],"Empirical":[138],"evaluation":[139],"using":[140],"NASA's":[143],"Astrobee":[144],"simulation":[145],"environment":[146],"focuses":[147],"learning":[149],"unknown":[150],"parameters":[151],"an":[153],"Extended":[154,178],"for":[157],"pose":[159],"twist":[161],"estimation.":[162],"results":[164],"demonstrate":[165],"rapid":[167],"training":[168],"convergence,":[169],"high":[170],"accuracy,":[171],"superior":[173],"performance":[174],"against":[175],"manually":[176],"tuned":[177],"filters.":[180]},"counts_by_year":[],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}