{"id":"https://openalex.org/W2785359964","doi":"https://doi.org/10.1109/ice.2017.8279941","title":"Comparison of two sensor data fusion methods in a tightly coupled UWB/IMU 3-D localization system","display_name":"Comparison of two sensor data fusion methods in a tightly coupled UWB/IMU 3-D localization system","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2785359964","doi":"https://doi.org/10.1109/ice.2017.8279941","mag":"2785359964"},"language":"en","primary_location":{"id":"doi:10.1109/ice.2017.8279941","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ice.2017.8279941","pdf_url":null,"source":{"id":"https://openalex.org/S4306498191","display_name":"2017 International Conference on Engineering, Technology and Innovation (ICE/ITMC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 International Conference on Engineering, Technology and Innovation (ICE/ITMC)","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/A5057883241","display_name":"Giovanni Miraglia","orcid":"https://orcid.org/0000-0002-5213-2860"},"institutions":[{"id":"https://openalex.org/I87208437","display_name":"University of Tulsa","ror":"https://ror.org/04wn28048","country_code":"US","type":"education","lineage":["https://openalex.org/I87208437"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Giovanni Miraglia","raw_affiliation_strings":["Electrical and Computer Engineering, The University of Tulsa, Tulsa, Oklahoma, USA"],"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, The University of Tulsa, Tulsa, Oklahoma, USA","institution_ids":["https://openalex.org/I87208437"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050196602","display_name":"Khashayar Niki Maleki","orcid":null},"institutions":[{"id":"https://openalex.org/I87208437","display_name":"University of Tulsa","ror":"https://ror.org/04wn28048","country_code":"US","type":"education","lineage":["https://openalex.org/I87208437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K. Niki Maleki","raw_affiliation_strings":["Electrical and Computer Engineering, The University of Tulsa, Tulsa, Oklahoma, USA"],"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, The University of Tulsa, Tulsa, Oklahoma, USA","institution_ids":["https://openalex.org/I87208437"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073978887","display_name":"Loyd R. Hook","orcid":"https://orcid.org/0000-0002-5098-0997"},"institutions":[{"id":"https://openalex.org/I87208437","display_name":"University of Tulsa","ror":"https://ror.org/04wn28048","country_code":"US","type":"education","lineage":["https://openalex.org/I87208437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Loyd R. Hook","raw_affiliation_strings":["Electrical and Computer Engineering, The University of Tulsa, Tulsa, Oklahoma, USA"],"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, The University of Tulsa, Tulsa, Oklahoma, USA","institution_ids":["https://openalex.org/I87208437"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5057883241"],"corresponding_institution_ids":["https://openalex.org/I87208437"],"apc_list":null,"apc_paid":null,"fwci":3.0987,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.92140447,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"611","last_page":"618"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998999834060669,"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":0.9998000264167786,"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":0.9983000159263611,"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-measurement-unit","display_name":"Inertial measurement unit","score":0.9333529472351074},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.7719284296035767},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6955299377441406},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6693909764289856},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6671162843704224},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.6395081281661987},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6291086077690125},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.5502000451087952},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5232290625572205},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4190026521682739},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35228338837623596},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1770431101322174}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.9333529472351074},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.7719284296035767},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6955299377441406},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6693909764289856},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6671162843704224},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.6395081281661987},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6291086077690125},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.5502000451087952},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5232290625572205},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4190026521682739},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35228338837623596},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1770431101322174},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ice.2017.8279941","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ice.2017.8279941","pdf_url":null,"source":{"id":"https://openalex.org/S4306498191","display_name":"2017 International Conference on Engineering, Technology and Innovation (ICE/ITMC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 International Conference on Engineering, Technology and Innovation (ICE/ITMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W2007619379","https://openalex.org/W2012393511","https://openalex.org/W2020968226","https://openalex.org/W2067542554","https://openalex.org/W2100989187","https://openalex.org/W2130945928","https://openalex.org/W2140242774","https://openalex.org/W2158570349","https://openalex.org/W2333881355"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2966028239","https://openalex.org/W2526240748","https://openalex.org/W2909947097","https://openalex.org/W2264340699","https://openalex.org/W4232231392","https://openalex.org/W2328321249","https://openalex.org/W2046169298","https://openalex.org/W2785359964"],"abstract_inverted_index":{"There":[0],"currently":[1],"exists":[2],"a":[3,29,97,102,107,150],"high":[4],"demand":[5],"for":[6,23],"vehicles":[7,18,26,43],"with":[8,57,68,149],"ever":[9],"increasing":[10],"levels":[11],"of":[12,16,60,81,128,184,193,199,209,215],"autonomy.":[13],"While":[14],"some":[15,42],"these":[17],"may":[19,44],"depend":[20],"on":[21],"GPS":[22,49],"localization,":[24],"other":[25,122],"will":[27],"require":[28],"more":[30],"precise":[31],"localization":[32],"solution":[33,110],"in":[34,48,101,123,133,142,158,166,202],"order":[35],"to":[36,46,85,95,106],"perform":[37],"their":[38],"tasks.":[39],"In":[40],"addition,":[41],"need":[45],"work":[47,83],"denied":[50],"environments.":[51],"These":[52],"issues":[53],"could":[54],"be":[55],"addressed":[56],"the":[58,125,129,134,138,143,154,159,163,167,182,191,194,197,203,207,210,216],"use":[59,183],"an":[61,69,73],"Ultra-Wide":[62],"Band":[63],"(UWB)":[64],"ranging":[65,180],"sensor":[66,91],"fused":[67],"Inertial-Measurement-Unit":[70],"(IMU)":[71],"using":[72,176],"Extended":[74],"Kalman":[75],"Filter":[76],"(EKF).":[77],"The":[78,117,170],"main":[79],"goal":[80],"this":[82],"is":[84,112],"investigate":[86],"and":[87,137],"compare":[88],"two":[89],"different":[90],"data":[92,131,155,186,201],"fusion":[93,127,140,156,164],"techniques":[94,118],"incorporate":[96],"3-axis":[98],"9-DOF":[99],"IMU":[100,130,185,200],"tightly":[103],"coupled":[104],"fashion":[105],"3-D":[108],"positioning":[109],"that":[111,124,153,174],"derived":[113],"from":[114,120],"UWB":[115,179],"signals.":[116],"differ":[119],"each":[121],"first":[126],"occurs":[132,141],"prediction":[135,168],"step":[136,161,205],"second":[139],"update":[144,160,204],"step.":[145,169],"Experimental":[146],"results":[147,171],"obtained":[148],"quadcopter":[151],"show":[152,173],"performed":[157,165],"outperforms":[162],"also":[172],"when":[175],"very":[177],"accurate":[178],"sensors,":[181],"does":[187],"not":[188],"improve":[189],"significantly":[190],"accuracy":[192],"position.":[195],"However,":[196],"integration":[198],"increases":[206],"robustness":[208],"EKF":[211],"against":[212],"erroneous":[213],"modelling":[214],"process":[217],"noise.":[218]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
