{"id":"https://openalex.org/W2097155923","doi":"https://doi.org/10.1109/iceee.2013.6676042","title":"Data fusion of an attitude estimator for global localization of a robot","display_name":"Data fusion of an attitude estimator for global localization of a robot","publication_year":2013,"publication_date":"2013-09-01","ids":{"openalex":"https://openalex.org/W2097155923","doi":"https://doi.org/10.1109/iceee.2013.6676042","mag":"2097155923"},"language":"en","primary_location":{"id":"doi:10.1109/iceee.2013.6676042","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iceee.2013.6676042","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","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/A5113521362","display_name":"Bernardino Benito Salmer\u00f3n-Quiroz","orcid":null},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"B.B. Salmeron-Quiroz","raw_affiliation_strings":["SEPI ESIME UA, Instituto Polit\u00e9cnico Nacional (I.P.N.), D.F, M\u00e9xico","Inst. Politec. Nac. (I.P.N.), SEPI ESIME UA, Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"SEPI ESIME UA, Instituto Polit\u00e9cnico Nacional (I.P.N.), D.F, M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]},{"raw_affiliation_string":"Inst. Politec. Nac. (I.P.N.), SEPI ESIME UA, Mexico City, Mexico","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030547290","display_name":"G. Villegas-Medina","orcid":null},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"G. Villegas-Medina","raw_affiliation_strings":["SEPI ESIME UA, Instituto Polit\u00e9cnico Nacional (I.P.N.), D.F, M\u00e9xico","Inst. Politec. Nac. (I.P.N.), SEPI ESIME UA, Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"SEPI ESIME UA, Instituto Polit\u00e9cnico Nacional (I.P.N.), D.F, M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]},{"raw_affiliation_string":"Inst. Politec. Nac. (I.P.N.), SEPI ESIME UA, Mexico City, Mexico","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080927564","display_name":"J. Fermi Guerrero\u2010Castellanos","orcid":"https://orcid.org/0000-0003-4239-6149"},"institutions":[{"id":"https://openalex.org/I721619","display_name":"Benem\u00e9rita Universidad Aut\u00f3noma de Puebla","ror":"https://ror.org/03p2z7827","country_code":"MX","type":"education","lineage":["https://openalex.org/I721619"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"J.F. Guerrero-Castellanos","raw_affiliation_strings":["Benem\u00e9rita Universidad Aut\u00f3noma de Puebla \u2013 BUAP","Benemerita Univ. Autonoma de Puebla - BUAP, Puebla, Mexico"],"affiliations":[{"raw_affiliation_string":"Benem\u00e9rita Universidad Aut\u00f3noma de Puebla \u2013 BUAP","institution_ids":["https://openalex.org/I721619"]},{"raw_affiliation_string":"Benemerita Univ. Autonoma de Puebla - BUAP, Puebla, Mexico","institution_ids":["https://openalex.org/I721619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004347450","display_name":"Rodolfo Villalobos-Martinez","orcid":null},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"R. Villalobos-Martinez","raw_affiliation_strings":["Escuela Superior de Ingenier\u00eda Textil \u2013 Instituto Polit\u00e9cnico Nacional","Escuela Super. de Ing. Textil, Inst. Politec. Nac., Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"Escuela Superior de Ingenier\u00eda Textil \u2013 Instituto Polit\u00e9cnico Nacional","institution_ids":["https://openalex.org/I59361560"]},{"raw_affiliation_string":"Escuela Super. de Ing. Textil, Inst. Politec. Nac., Mexico City, Mexico","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075256412","display_name":"M.A. Mendoza-Nunez","orcid":null},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"M.A. Mendoza-Nunez","raw_affiliation_strings":["ESIME Culhuacan, Instituto Polit\u00e9cnico Nacional (I.P.N.)","Inst. Politec. Nac. (I.P.N.), ESIME, Culhuacan, Mexico"],"affiliations":[{"raw_affiliation_string":"ESIME Culhuacan, Instituto Polit\u00e9cnico Nacional (I.P.N.)","institution_ids":["https://openalex.org/I59361560"]},{"raw_affiliation_string":"Inst. Politec. Nac. (I.P.N.), ESIME, Culhuacan, Mexico","institution_ids":["https://openalex.org/I59361560"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5113521362"],"corresponding_institution_ids":["https://openalex.org/I59361560"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09767468,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":null,"first_page":"342","last_page":"347"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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":0.9976999759674072,"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/estimator","display_name":"Estimator","score":0.6460996270179749},{"id":"https://openalex.org/keywords/attitude-and-heading-reference-system","display_name":"Attitude and heading reference system","score":0.6230655908584595},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5951607823371887},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5658552646636963},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5315492153167725},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4954284429550171},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4929535388946533},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47899624705314636},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.47311922907829285},{"id":"https://openalex.org/keywords/covariance-matrix","display_name":"Covariance matrix","score":0.4405103921890259},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4110291600227356},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4092528522014618},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39324551820755005},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.24064108729362488},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20819607377052307},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09289819002151489},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0894201397895813}],"concepts":[{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6460996270179749},{"id":"https://openalex.org/C204114589","wikidata":"https://www.wikidata.org/wiki/Q4248887","display_name":"Attitude and heading reference system","level":3,"score":0.6230655908584595},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5951607823371887},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5658552646636963},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5315492153167725},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4954284429550171},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4929535388946533},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47899624705314636},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.47311922907829285},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.4405103921890259},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4110291600227356},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4092528522014618},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39324551820755005},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.24064108729362488},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20819607377052307},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09289819002151489},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0894201397895813},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iceee.2013.6676042","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iceee.2013.6676042","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","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":18,"referenced_works":["https://openalex.org/W953866914","https://openalex.org/W1558285529","https://openalex.org/W1966430548","https://openalex.org/W1983890535","https://openalex.org/W1994375234","https://openalex.org/W2048481056","https://openalex.org/W2063005413","https://openalex.org/W2067043745","https://openalex.org/W2096681827","https://openalex.org/W2107962881","https://openalex.org/W2117102490","https://openalex.org/W2117730228","https://openalex.org/W2124849494","https://openalex.org/W2134858417","https://openalex.org/W2154101061","https://openalex.org/W2467377838","https://openalex.org/W3170827753","https://openalex.org/W6662446984"],"related_works":["https://openalex.org/W1990367273","https://openalex.org/W2479794729","https://openalex.org/W2383240512","https://openalex.org/W2105250171","https://openalex.org/W2361801826","https://openalex.org/W2785359964","https://openalex.org/W1976258684","https://openalex.org/W2588455875","https://openalex.org/W2001556146","https://openalex.org/W2597684603"],"abstract_inverted_index":{"This":[0],"paper":[1],"focuses":[2],"on":[3,13,65],"the":[4,26,29,32,47,52,66,69,73,86,97,109,129,144,147,152,166],"design":[5],"and":[6,115],"test":[7],"results":[8,140],"of":[9,28,35,68,99,146,154,165],"an":[10,120],"estimator":[11,53],"based":[12,118],"fusing":[14],"data":[15],"from":[16,46],"Inertial":[17],"Measurement":[18],"Unit":[19],"(AHRS).":[20],"Therefore":[21],"in":[22,40,72,119],"order":[23],"to":[24,150],"improve":[25],"quality":[27],"attitude":[30,153],"estimates,":[31],"covariance":[33],"matrix":[34],"measurement":[36],"noise":[37],"is":[38,55,76,126,133,169],"estimated":[39],"real":[41],"time":[42],"upon":[43],"information":[44],"obtained":[45],"differential":[48],"measurements,":[49],"so":[50],"that":[51],"continually":[54],"\u201ctuned\u201d":[56],"as":[57,59,78],"well":[58],"possible.":[60],"No":[61],"a":[62,116,155],"priori":[63],"knowledge":[64],"direction":[67],"gravity":[70],"vector":[71],"inertial":[74],"frame":[75],"required":[77],"these":[79],"parameters":[80],"can":[81],"be":[82],"also":[83],"identified":[84],"by":[85],"KF,":[87],"relieving":[88],"any":[89],"need":[90],"for":[91,122,136],"calibration.":[92],"With":[93],"this":[94],"approach,":[95],"only":[96],"measurements":[98],"at":[100],"least":[101],"two":[102],"non-collinear":[103],"directional":[104],"sensors":[105],"are":[106,112,141],"needed.":[107],"Since":[108],"control":[110],"laws":[111],"highly":[113],"simple":[114],"model":[117],"observer":[121],"angular":[123],"velocity":[124],"reconstruction":[125],"not":[127],"needed,":[128],"proposed":[130],"new":[131],"strategy":[132],"very":[134],"suitable":[135],"embedded":[137],"implementations.":[138],"Test":[139],"presented":[142],"showing":[143],"performance":[145],"integrated":[148],"AHRS":[149],"estimate":[151],"mobile":[156],"robot":[157],"moving":[158],"across":[159],"uneven":[160],"terrain.":[161],"The":[162],"global":[163],"convergence":[164],"estimation":[167],"techniques":[168],"proved.":[170]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}