{"id":"https://openalex.org/W1528096135","doi":"https://doi.org/10.1109/icarcv.2002.1234873","title":"Integrating GPS and INS: comparing the Kalman estimator and particle estimator","display_name":"Integrating GPS and INS: comparing the Kalman estimator and particle estimator","publication_year":2004,"publication_date":"2004-04-23","ids":{"openalex":"https://openalex.org/W1528096135","doi":"https://doi.org/10.1109/icarcv.2002.1234873","mag":"1528096135"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2002.1234873","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2002.1234873","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002.","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/A5087440832","display_name":"B. Boberg","orcid":null},"institutions":[{"id":"https://openalex.org/I1291458624","display_name":"Swedish Defence Research Agency","ror":"https://ror.org/0470cgs30","country_code":"SE","type":"funder","lineage":["https://openalex.org/I1291458624"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"B. Boberg","raw_affiliation_strings":["Systems Technology, Autonomous Systems, Swedish Defence Research Agency, Sweden","Syst. Technol., Swedish Defence Res. Agency, Sweden"],"affiliations":[{"raw_affiliation_string":"Systems Technology, Autonomous Systems, Swedish Defence Research Agency, Sweden","institution_ids":["https://openalex.org/I1291458624"]},{"raw_affiliation_string":"Syst. Technol., Swedish Defence Res. Agency, Sweden","institution_ids":["https://openalex.org/I1291458624"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035465167","display_name":"S.-L. Wirkander","orcid":null},"institutions":[{"id":"https://openalex.org/I1291458624","display_name":"Swedish Defence Research Agency","ror":"https://ror.org/0470cgs30","country_code":"SE","type":"funder","lineage":["https://openalex.org/I1291458624"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"S.-L. Wirkander","raw_affiliation_strings":["Systems Technology, Autonomous Systems, Swedish Defence Research Agency, Sweden","Syst. Technol., Swedish Defence Res. Agency, Sweden"],"affiliations":[{"raw_affiliation_string":"Systems Technology, Autonomous Systems, Swedish Defence Research Agency, Sweden","institution_ids":["https://openalex.org/I1291458624"]},{"raw_affiliation_string":"Syst. Technol., Swedish Defence Res. Agency, Sweden","institution_ids":["https://openalex.org/I1291458624"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5087440832"],"corresponding_institution_ids":["https://openalex.org/I1291458624"],"apc_list":null,"apc_paid":null,"fwci":0.4497,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.72921338,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"484","last_page":"490"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9997000098228455,"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":0.9991999864578247,"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":0.9983999729156494,"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/estimator","display_name":"Estimator","score":0.6345205307006836},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6035259366035461},{"id":"https://openalex.org/keywords/gps/ins","display_name":"GPS/INS","score":0.5790468454360962},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5739517211914062},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5296223759651184},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5202473402023315},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.4757014214992523},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47316890954971313},{"id":"https://openalex.org/keywords/white-noise","display_name":"White noise","score":0.41379427909851074},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.41205018758773804},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39323005080223083},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33670732378959656},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.20803546905517578},{"id":"https://openalex.org/keywords/assisted-gps","display_name":"Assisted GPS","score":0.1834755837917328},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16030776500701904},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08120259642601013}],"concepts":[{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6345205307006836},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6035259366035461},{"id":"https://openalex.org/C193183557","wikidata":"https://www.wikidata.org/wiki/Q195126","display_name":"GPS/INS","level":4,"score":0.5790468454360962},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5739517211914062},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5296223759651184},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5202473402023315},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.4757014214992523},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47316890954971313},{"id":"https://openalex.org/C112633086","wikidata":"https://www.wikidata.org/wiki/Q381287","display_name":"White noise","level":2,"score":0.41379427909851074},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.41205018758773804},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39323005080223083},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33670732378959656},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.20803546905517578},{"id":"https://openalex.org/C198613851","wikidata":"https://www.wikidata.org/wiki/Q432394","display_name":"Assisted GPS","level":3,"score":0.1834755837917328},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16030776500701904},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08120259642601013},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2002.1234873","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2002.1234873","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"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":12,"referenced_works":["https://openalex.org/W304861154","https://openalex.org/W1500564636","https://openalex.org/W1509783656","https://openalex.org/W1569116522","https://openalex.org/W2018778695","https://openalex.org/W2066187716","https://openalex.org/W2098613108","https://openalex.org/W2112096424","https://openalex.org/W2119539043","https://openalex.org/W2144100107","https://openalex.org/W2168271684","https://openalex.org/W4298408646"],"related_works":["https://openalex.org/W2318656236","https://openalex.org/W2614243947","https://openalex.org/W2055000932","https://openalex.org/W2030440043","https://openalex.org/W1910463446","https://openalex.org/W2535115763","https://openalex.org/W1494447669","https://openalex.org/W2119957445","https://openalex.org/W2182125867","https://openalex.org/W2026704625"],"abstract_inverted_index":{"This":[0],"report":[1],"describes":[2],"how":[3],"a":[4,28,45,75,123,165],"relatively":[5],"new":[6],"type":[7],"of":[8,41,99,110,113,138,206,212],"state":[9,168],"estimator,":[10],"called":[11],"the":[12,22,39,59,70,81,103,131,136,146,149,157,182,200,204,207,210],"particle":[13],"estimator":[14,31],"(PE),":[15],"has":[16],"been":[17,36],"evaluated":[18],"and":[19,51,117,154,156,161,175],"compared":[20],"with":[21,203],"well":[23],"established":[24],"method":[25],"based":[26],"on":[27],"linear":[29,125,194],"Kalman":[30],"(KE).":[32],"The":[33,87,107,128,171,184,196],"estimators":[34,89],"have":[35],"applied":[37],"to":[38,134,181],"problem":[40],"integrating":[42],"information":[43],"from":[44],"Global":[46],"Satellite":[47],"Navigation":[48,54,141],"System":[49,55,142],"(GNSS)":[50],"an":[52,139],"Inertial":[53,140],"(INS)":[56,143],"expressed":[57],"in":[58,66,78,102,152],"navigation":[60],"frame.":[61],"No":[62],"attitude":[63],"is":[64,72,133],"included":[65],"this":[67],"system,":[68],"i.e.":[69],"vehicle":[71],"considered":[73],"as":[74,179],"point":[76],"moving":[77],"space.":[79],"Therefore":[80],"INS":[82,159],"consists":[83],"only":[84],"accelerometer":[85],"signals.":[86],"two":[88],"are":[90,177],"compared,":[91],"essentially":[92],"regarding":[93],"their":[94],"robustness":[95],"against":[96],"different":[97,111],"types":[98],"unmodelled":[100],"errors":[101,108,137],"three":[104],"acceleration":[105],"measurements.":[106],"consist":[109],"combinations":[112],"white":[114,189],"noise":[115,191],"components":[116,119],"constant":[118],"(biases).":[120],"KE":[121,132],"uses":[122,164],"continuous":[124],"error":[126],"model.":[127,170],"task":[129],"for":[130,199],"estimate":[135],"by":[144],"using":[145],"difference":[147],"between":[148],"GPS":[150,172],"solution":[151],"velocity":[153,160,176],"position":[155,174],"integrated":[158],"position.":[162],"PE":[163,185,201],"nonlinear":[166],"full":[167],"discrete":[169],"receiver":[173],"used":[178],"measurements":[180],"estimator.":[183],"does":[186],"neither":[187],"require":[188],"Gaussian":[190],"distribution":[192],"nor":[193],"equations.":[195],"computational":[197],"load":[198],"increases":[202],"complexity":[205],"problem,":[208],"e.g.":[209],"number":[211],"states.":[213]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
