{"id":"https://openalex.org/W3006365578","doi":"https://doi.org/10.1109/iccma46720.2019.8988661","title":"Variational Bayesian Adaptive Embedded Cubature Kalman Filter Algorithm for Initial Alignment of SINS with Uncertain Observations","display_name":"Variational Bayesian Adaptive Embedded Cubature Kalman Filter Algorithm for Initial Alignment of SINS with Uncertain Observations","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3006365578","doi":"https://doi.org/10.1109/iccma46720.2019.8988661","mag":"3006365578"},"language":"en","primary_location":{"id":"doi:10.1109/iccma46720.2019.8988661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccma46720.2019.8988661","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","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/A5061959812","display_name":"Guangcai Wang","orcid":"https://orcid.org/0000-0002-1124-898X"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang Guangcai","raw_affiliation_strings":["Southeast University,School of Instrument Science and Engineering,Nanjing,China","School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University,School of Instrument Science and Engineering,Nanjing,China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074042000","display_name":"Xiaosu Xu","orcid":"https://orcid.org/0000-0002-5165-0981"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Xiaosu","raw_affiliation_strings":["Southeast University,School of Instrument Science and Engineering,Nanjing,China","School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University,School of Instrument Science and Engineering,Nanjing,China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100773356","display_name":"Jian Wang","orcid":"https://orcid.org/0000-0003-1748-6409"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang Jian","raw_affiliation_strings":["Southeast University,School of Instrument Science and Engineering,Nanjing,China","School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University,School of Instrument Science and Engineering,Nanjing,China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19623679,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"438","last_page":"442"},"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":0.9998999834060669,"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":0.9998999834060669,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9965000152587891,"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/T10655","display_name":"GNSS positioning and interference","score":0.9861999750137329,"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":0.7259929180145264},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.6528870463371277},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6394146680831909},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.563601016998291},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5352412462234497},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5295038223266602},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.5143450498580933},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.4644000828266144},{"id":"https://openalex.org/keywords/fast-kalman-filter","display_name":"Fast Kalman filter","score":0.44409409165382385},{"id":"https://openalex.org/keywords/rate-of-convergence","display_name":"Rate of convergence","score":0.42168694734573364},{"id":"https://openalex.org/keywords/adaptive-filter","display_name":"Adaptive filter","score":0.4214681088924408},{"id":"https://openalex.org/keywords/gaussian-noise","display_name":"Gaussian noise","score":0.41387248039245605},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4059438109397888},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.38620468974113464},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1600852608680725}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7259929180145264},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.6528870463371277},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6394146680831909},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.563601016998291},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5352412462234497},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5295038223266602},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.5143450498580933},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.4644000828266144},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.44409409165382385},{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.42168694734573364},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.4214681088924408},{"id":"https://openalex.org/C4199805","wikidata":"https://www.wikidata.org/wiki/Q2725903","display_name":"Gaussian noise","level":2,"score":0.41387248039245605},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4059438109397888},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38620468974113464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1600852608680725},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"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/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccma46720.2019.8988661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccma46720.2019.8988661","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1982322007","https://openalex.org/W1984211304","https://openalex.org/W1985499982","https://openalex.org/W2010635244","https://openalex.org/W2031385481","https://openalex.org/W2046604226","https://openalex.org/W2054091988","https://openalex.org/W2095376999","https://openalex.org/W2493797575","https://openalex.org/W2737188128"],"related_works":["https://openalex.org/W4206024512","https://openalex.org/W2772311278","https://openalex.org/W2359845109","https://openalex.org/W1035502194","https://openalex.org/W4300476109","https://openalex.org/W2354299011","https://openalex.org/W4302337189","https://openalex.org/W2911693460","https://openalex.org/W2164981166","https://openalex.org/W2136719298"],"abstract_inverted_index":{"In":[0],"the":[1,18,51,65,75,83,90,97],"paper,":[2],"a":[3,27,41,45],"new":[4],"variational":[5],"bayesian":[6],"based":[7,48,57],"adaptive":[8],"embedded":[9,34],"cubature":[10],"Kalman":[11],"filter":[12,49,77],"(VB-AECKF)":[13],"for":[14,37],"joint":[15],"estimation":[16],"of":[17,55,70,85,96,105],"dynamic":[19],"state":[20],"and":[21,93],"measurement":[22,86],"noise":[23],"is":[24,62,100],"proposed":[25,76],"under":[26],"swing":[28],"base.":[29],"By":[30],"constructing":[31],"fully":[32],"symmetric":[33],"integration":[35],"rules":[36],"multidimensional":[38],"integrals":[39],"with":[40,50],"Gaussian":[42],"weight":[43],"function,":[44],"fifth-degree":[46],"AECKF":[47,99],"estimated":[52],"free":[53],"parameter":[54],"ECKF":[56],"on":[58],"maximum":[59],"likelihood":[60],"criterion":[61],"introduced":[63],"in":[64],"initial":[66],"alignment.":[67],"The":[68],"results":[69],"turntable":[71],"experiment":[72],"show":[73],"that":[74,104],"has":[78],"better":[79,102],"robustness":[80],"to":[81],"resist":[82],"uncertainties":[84],"noise.":[87],"What's":[88],"more,":[89],"alignment":[91],"accuracy":[92],"convergence":[94],"rate":[95],"VB-":[98],"much":[101],"than":[103],"CKF.":[106]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
