{"id":"https://openalex.org/W1983099809","doi":"https://doi.org/10.1109/ecc.2014.6862535","title":"Adaptive Kalman filter for MEMS-IMU based attitude estimation under external acceleration and parsimonious use of gyroscopes","display_name":"Adaptive Kalman filter for MEMS-IMU based attitude estimation under external acceleration and parsimonious use of gyroscopes","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W1983099809","doi":"https://doi.org/10.1109/ecc.2014.6862535","mag":"1983099809"},"language":"en","primary_location":{"id":"doi:10.1109/ecc.2014.6862535","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecc.2014.6862535","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"preprint","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/A5004896364","display_name":"Aida Makni","orcid":null},"institutions":[{"id":"https://openalex.org/I177483745","display_name":"Universit\u00e9 Joseph Fourier","ror":"https://ror.org/02aj0kh94","country_code":"FR","type":"education","lineage":["https://openalex.org/I177483745"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"id":"https://openalex.org/I4210124956","display_name":"GIPSA-Lab","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Aida Makni","raw_affiliation_strings":["Department of Automatic Control, Joseph Fourier University, Grenoble, France","NECS - Networked Controlled Systems (Centre de Recherche Inria\r\n655 Avenue de l'Europe, \r\n38330 Montbonnot-Saint-Martin\r\n\r\nGIPSA-lab\r\nGIPSA-lab, 11 rue des Math\u00e9matiques, Grenoble Campus BP46, \r\nF-38402 SAINT MARTIN D'HERES CEDEX - France)","GIPSA-lab - Grenoble Images Parole Signal Automatique (GIPSA-lab \r\n11 rue des Math\u00e9matiques, Grenoble Campus \r\nBP46\r\nF-38402 SAINT MARTIN D'HERES CEDEX - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, Joseph Fourier University, Grenoble, France","institution_ids":["https://openalex.org/I177483745"]},{"raw_affiliation_string":"NECS - Networked Controlled Systems (Centre de Recherche Inria\r\n655 Avenue de l'Europe, \r\n38330 Montbonnot-Saint-Martin\r\n\r\nGIPSA-lab\r\nGIPSA-lab, 11 rue des Math\u00e9matiques, Grenoble Campus BP46, \r\nF-38402 SAINT MARTIN D'HERES CEDEX - France)","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I4210124956"]},{"raw_affiliation_string":"GIPSA-lab - Grenoble Images Parole Signal Automatique (GIPSA-lab \r\n11 rue des Math\u00e9matiques, Grenoble Campus \r\nBP46\r\nF-38402 SAINT MARTIN D'HERES CEDEX - France)","institution_ids":["https://openalex.org/I4210124956"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008384064","display_name":"Hassen Fourati","orcid":"https://orcid.org/0000-0002-8398-7183"},"institutions":[{"id":"https://openalex.org/I177483745","display_name":"Universit\u00e9 Joseph Fourier","ror":"https://ror.org/02aj0kh94","country_code":"FR","type":"education","lineage":["https://openalex.org/I177483745"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"id":"https://openalex.org/I4210124956","display_name":"GIPSA-Lab","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Hassen Fourati","raw_affiliation_strings":["Department of Automatic Control, Joseph Fourier University, Grenoble, France","NECS - Networked Controlled Systems (Centre de Recherche Inria\r\n655 Avenue de l'Europe, \r\n38330 Montbonnot-Saint-Martin\r\n\r\nGIPSA-lab\r\nGIPSA-lab, 11 rue des Math\u00e9matiques, Grenoble Campus BP46, \r\nF-38402 SAINT MARTIN D'HERES CEDEX - France)","GIPSA-lab - Grenoble Images Parole Signal Automatique (GIPSA-lab \r\n11 rue des Math\u00e9matiques, Grenoble Campus \r\nBP46\r\nF-38402 SAINT MARTIN D'HERES CEDEX - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, Joseph Fourier University, Grenoble, France","institution_ids":["https://openalex.org/I177483745"]},{"raw_affiliation_string":"NECS - Networked Controlled Systems (Centre de Recherche Inria\r\n655 Avenue de l'Europe, \r\n38330 Montbonnot-Saint-Martin\r\n\r\nGIPSA-lab\r\nGIPSA-lab, 11 rue des Math\u00e9matiques, Grenoble Campus BP46, \r\nF-38402 SAINT MARTIN D'HERES CEDEX - France)","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I4210124956"]},{"raw_affiliation_string":"GIPSA-lab - Grenoble Images Parole Signal Automatique (GIPSA-lab \r\n11 rue des Math\u00e9matiques, Grenoble Campus \r\nBP46\r\nF-38402 SAINT MARTIN D'HERES CEDEX - France)","institution_ids":["https://openalex.org/I4210124956"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027348635","display_name":"Alain Y. Kibangou","orcid":"https://orcid.org/0000-0002-8662-2534"},"institutions":[{"id":"https://openalex.org/I177483745","display_name":"Universit\u00e9 Joseph Fourier","ror":"https://ror.org/02aj0kh94","country_code":"FR","type":"education","lineage":["https://openalex.org/I177483745"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"id":"https://openalex.org/I4210124956","display_name":"GIPSA-Lab","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Alain.Y Kibangou","raw_affiliation_strings":["Department of Automatic Control, Joseph Fourier University, Grenoble, France","GIPSA-lab - Grenoble Images Parole Signal Automatique (GIPSA-lab \r\n11 rue des Math\u00e9matiques, Grenoble Campus \r\nBP46\r\nF-38402 SAINT MARTIN D'HERES CEDEX - France)","NECS - Networked Controlled Systems (Centre de Recherche Inria\r\n655 Avenue de l'Europe, \r\n38330 Montbonnot-Saint-Martin\r\n\r\nGIPSA-lab\r\nGIPSA-lab, 11 rue des Math\u00e9matiques, Grenoble Campus BP46, \r\nF-38402 SAINT MARTIN D'HERES CEDEX - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, Joseph Fourier University, Grenoble, France","institution_ids":["https://openalex.org/I177483745"]},{"raw_affiliation_string":"GIPSA-lab - Grenoble Images Parole Signal Automatique (GIPSA-lab \r\n11 rue des Math\u00e9matiques, Grenoble Campus \r\nBP46\r\nF-38402 SAINT MARTIN D'HERES CEDEX - France)","institution_ids":["https://openalex.org/I4210124956"]},{"raw_affiliation_string":"NECS - Networked Controlled Systems (Centre de Recherche Inria\r\n655 Avenue de l'Europe, \r\n38330 Montbonnot-Saint-Martin\r\n\r\nGIPSA-lab\r\nGIPSA-lab, 11 rue des Math\u00e9matiques, Grenoble Campus BP46, \r\nF-38402 SAINT MARTIN D'HERES CEDEX - France)","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I4210124956"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":59.4304,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.99549742,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1379","last_page":"1384"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9919999837875366,"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":0.9860000014305115,"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/gyroscope","display_name":"Gyroscope","score":0.9192114472389221},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.8964335918426514},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.810920000076294},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7792710065841675},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7000455856323242},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6857682466506958},{"id":"https://openalex.org/keywords/attitude-and-heading-reference-system","display_name":"Attitude and heading reference system","score":0.5055124759674072},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4833504855632782},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46876686811447144},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4550735056400299},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27694615721702576},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19789594411849976},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17346835136413574},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.14866581559181213},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11167412996292114}],"concepts":[{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.9192114472389221},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.8964335918426514},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.810920000076294},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7792710065841675},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7000455856323242},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6857682466506958},{"id":"https://openalex.org/C204114589","wikidata":"https://www.wikidata.org/wiki/Q4248887","display_name":"Attitude and heading reference system","level":3,"score":0.5055124759674072},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4833504855632782},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46876686811447144},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4550735056400299},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27694615721702576},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19789594411849976},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17346835136413574},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.14866581559181213},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11167412996292114},{"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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/ecc.2014.6862535","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecc.2014.6862535","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.635.2057","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.635.2057","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://hal.univ-grenoble-alpes.fr/docs/00/96/86/63/PDF/MFK_ECC_14.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.659.1073","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.659.1073","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://hal.inria.fr/hal-00968663/file/MFK_ECC_14.pdf","raw_type":"text"},{"id":"pmh:oai:HAL:hal-00968663v1","is_oa":false,"landing_page_url":"https://inria.hal.science/hal-00968663","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ECC 2014 - 13th European Control Conference, Jun 2014, Strasbourg, France","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.9200000166893005}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1527786550","https://openalex.org/W1558285529","https://openalex.org/W1969257599","https://openalex.org/W1985853728","https://openalex.org/W2007836338","https://openalex.org/W2063005413","https://openalex.org/W2067416016","https://openalex.org/W2075198545","https://openalex.org/W2102036932","https://openalex.org/W2105320369","https://openalex.org/W2107556327","https://openalex.org/W2110728483","https://openalex.org/W2115615338","https://openalex.org/W2117102490","https://openalex.org/W2121299011","https://openalex.org/W2127995524","https://openalex.org/W2137448549","https://openalex.org/W2143988270","https://openalex.org/W2144561560","https://openalex.org/W2145834063","https://openalex.org/W2467377838","https://openalex.org/W2532146065","https://openalex.org/W3108645772","https://openalex.org/W4229748564","https://openalex.org/W6678330884"],"related_works":["https://openalex.org/W2356006086","https://openalex.org/W2545168295","https://openalex.org/W1973973903","https://openalex.org/W2365897603","https://openalex.org/W4234814094","https://openalex.org/W4287084017","https://openalex.org/W3208523813","https://openalex.org/W3195533899","https://openalex.org/W2156308897","https://openalex.org/W3179745820"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"rigid":[3],"body":[4],"attitude":[5,28,53,132],"estimation":[6,29,54],"from":[7,72],"a":[8],"small":[9],"inertial/magnetic":[10],"sensor":[11],"module":[12],"containing":[13],"triaxial":[14],"gyroscopes,":[15],"accelerometers,":[16],"and":[17,140],"magnetometers.":[18],"Precisely,":[19],"two":[20],"challenges":[21],"are":[22],"addressed.":[23],"The":[24,99],"first":[25],"one":[26,43],"concerns":[27],"during":[30],"various":[31],"dynamic":[32],"conditions,":[33],"in":[34,52,63,75],"which":[35],"external":[36,40,70,89,138],"acceleration":[37,41,71,90,139],"occurs.":[38],"Although":[39],"is":[42,78,91,102,150],"of":[44,48,50,109,115,146],"the":[45,64,73,76,83,88,96,105,121,125,144,147],"main":[46],"source":[47],"loss":[49],"performance":[51],"methods,":[55],"this":[56],"problem":[57],"has":[58],"not":[59],"been":[60],"sufficiently":[61],"addressed":[62],"literature.":[65],"An":[66],"adaptive":[67],"algorithm":[68],"compensating":[69],"residual":[74],"accelerometer":[77],"proposed.":[79],"At":[80],"each":[81],"step,":[82],"covariance":[84],"matrix":[85],"associated":[86],"with":[87],"estimated":[92],"to":[93,123],"adaptively":[94],"tune":[95],"filter":[97],"gain.":[98],"second":[100],"challenge":[101],"focused":[103],"on":[104],"energy":[106],"consumption":[107],"issue":[108],"gyroscopes":[110],"for":[111],"long-term":[112],"battery":[113],"life":[114],"Inertial":[116],"Measurement":[117],"Units.":[118],"We":[119],"study":[120],"way":[122],"reduce":[124],"gyro":[126],"measurement":[127],"acquisition":[128],"while":[129],"maintaining":[130],"acceptable":[131],"estimation.":[133],"Through":[134],"numerical":[135],"simulations,":[136],"under":[137],"parsimonious":[141],"gyroscope's":[142],"use,":[143],"efficiency":[145],"proposed":[148],"q-AKF":[149],"illustrated.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}