{"id":"https://openalex.org/W3171921014","doi":"https://doi.org/10.1109/icl-gnss51451.2021.9452243","title":"Improved velocity estimation in urban areas using Doppler observations","display_name":"Improved velocity estimation in urban areas using Doppler observations","publication_year":2021,"publication_date":"2021-06-01","ids":{"openalex":"https://openalex.org/W3171921014","doi":"https://doi.org/10.1109/icl-gnss51451.2021.9452243","mag":"3171921014"},"language":"en","primary_location":{"id":"doi:10.1109/icl-gnss51451.2021.9452243","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icl-gnss51451.2021.9452243","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Conference on Localization and GNSS (ICL-GNSS)","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/A5026490937","display_name":"Ankit Jain","orcid":"https://orcid.org/0000-0001-9624-9625"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Ankit Jain","raw_affiliation_strings":["Leibniz Universität Hannover,Institut für Erdmessung (IfE),Hannover,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz Universität Hannover,Institut für Erdmessung (IfE),Hannover,Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038183074","display_name":"Dennis Kulemann","orcid":"https://orcid.org/0000-0003-2150-3902"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dennis Kulemann","raw_affiliation_strings":["Leibniz Universität Hannover,Institut für Erdmessung (IfE),Hannover,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz Universität Hannover,Institut für Erdmessung (IfE),Hannover,Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091144096","display_name":"Steffen Sch\u00f6n","orcid":"https://orcid.org/0000-0002-5042-6742"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Steffen Schon","raw_affiliation_strings":["Leibniz Universität Hannover,Institut für Erdmessung (IfE),Hannover,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz Universität Hannover,Institut für Erdmessung (IfE),Hannover,Germany","institution_ids":["https://openalex.org/I114112103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5026490937"],"corresponding_institution_ids":["https://openalex.org/I114112103"],"apc_list":null,"apc_paid":null,"fwci":6.5687,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.96328581,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10655","display_name":"GNSS positioning and interference","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/T10655","display_name":"GNSS positioning and interference","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/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/T11405","display_name":"Geophysics and Gravity Measurements","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.787101686000824},{"id":"https://openalex.org/keywords/elevation","display_name":"Elevation (ballistics)","score":0.6110522150993347},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.55571049451828},{"id":"https://openalex.org/keywords/sigma","display_name":"Sigma","score":0.5180606842041016},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.516416609287262},{"id":"https://openalex.org/keywords/multipath-propagation","display_name":"Multipath propagation","score":0.5028287768363953},{"id":"https://openalex.org/keywords/doppler-effect","display_name":"Doppler effect","score":0.4889041483402252},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.46549734473228455},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.43918001651763916},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.34464138746261597},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3110365867614746},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2724631130695343},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.26772481203079224},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2629331350326538},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.26122307777404785},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23840853571891785},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11090487241744995},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10432064533233643}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.787101686000824},{"id":"https://openalex.org/C37054046","wikidata":"https://www.wikidata.org/wiki/Q641888","display_name":"Elevation (ballistics)","level":2,"score":0.6110522150993347},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.55571049451828},{"id":"https://openalex.org/C2778049214","wikidata":"https://www.wikidata.org/wiki/Q7512234","display_name":"Sigma","level":2,"score":0.5180606842041016},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.516416609287262},{"id":"https://openalex.org/C161218011","wikidata":"https://www.wikidata.org/wiki/Q11827794","display_name":"Multipath propagation","level":3,"score":0.5028287768363953},{"id":"https://openalex.org/C142757262","wikidata":"https://www.wikidata.org/wiki/Q76436","display_name":"Doppler effect","level":2,"score":0.4889041483402252},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.46549734473228455},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.43918001651763916},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.34464138746261597},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3110365867614746},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2724631130695343},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.26772481203079224},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2629331350326538},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.26122307777404785},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23840853571891785},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11090487241744995},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10432064533233643},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","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},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icl-gnss51451.2021.9452243","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icl-gnss51451.2021.9452243","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Conference on Localization and GNSS (ICL-GNSS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8399999737739563}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W376291572","https://openalex.org/W1096382394","https://openalex.org/W1505394098","https://openalex.org/W1988549332","https://openalex.org/W2028303631","https://openalex.org/W2030955996","https://openalex.org/W2124473058","https://openalex.org/W2125557572","https://openalex.org/W2166513078","https://openalex.org/W2186395237","https://openalex.org/W2573739355","https://openalex.org/W2608623687","https://openalex.org/W3043843855","https://openalex.org/W3044810324","https://openalex.org/W3127712434","https://openalex.org/W3197337134","https://openalex.org/W6612819536","https://openalex.org/W6686686165","https://openalex.org/W6736945079","https://openalex.org/W6790351514","https://openalex.org/W6801105667"],"related_works":["https://openalex.org/W3110195467","https://openalex.org/W2756172590","https://openalex.org/W2052432379","https://openalex.org/W3117915744","https://openalex.org/W3206500252","https://openalex.org/W2597513713","https://openalex.org/W3106489079","https://openalex.org/W3130617165","https://openalex.org/W4280578603","https://openalex.org/W2803265893"],"abstract_inverted_index":{"In":[0,98],"urban":[1,44,86],"areas,":[2],"Global":[3],"navigation":[4],"satellite":[5],"system":[6],"(GNSS)":[7],"velocity":[8,117,161],"estimation":[9],"suffers":[10],"due":[11],"to":[12,31,100,151,174,186],"signal":[13],"obstruction":[14],"and":[15,29,76,116,125,141],"multipath":[16],"effects.":[17],"This":[18],"paper":[19],"explores":[20],"two":[21,93],"different":[22,35,105],"variance":[23,106,153],"models,":[24,107],"known":[25],"as":[26],"elevation":[27,51,57,187],"dependent":[28,52,188],"SIGMA-\u03b5":[30,64,182,202,210],"account":[32],"for":[33,91,145],"the":[34,38,47,50,56,60,63,69,102,147,152,157,159,181,193,196],"quality":[36],"of":[37,59,104,177,192,195],"Doppler":[39,108],"observations":[40],"accurately":[41],"in":[42,84,184,224],"an":[43,85,221,225],"surrounding.":[45],"As":[46],"name":[48],"suggests,":[49],"model":[53,65,183,211],"relies":[54],"on":[55,68],"angles":[58],"satellites":[61],"whereas":[62],"is":[66,167],"based":[67],"measured":[70],"carrier-to-noise":[71],"density":[72],"ratio":[73],"(C/N0).":[74],"GNSS":[75],"inertial":[77],"measurement":[78],"unit":[79],"(IMU)":[80],"data":[81,109],"are":[82,111,119,134,143,199],"recorded":[83],"area":[87],"with":[88,95,121,137,149,180,201],"a":[89,138,175],"vehicle":[90],"about":[92,178],"hours":[94],"multiple":[96],"devices.":[97],"order":[99],"find":[101],"impact":[103],"captured":[110],"processed":[112],"post":[113],"kinematic":[114],"experiment":[115],"estimates":[118],"computed":[120,132],"least":[122,171],"squares":[123],"(LS)":[124],"linearized":[126],"Kalman":[127],"filter":[128],"(LKF)":[129],"method.":[130],"The":[131],"velocities":[133],"then":[135],"compared":[136],"reference":[139],"trajectory":[140],"errors":[142],"evaluated":[144],"all":[146,156],"receivers":[148],"regards":[150],"models.":[154],"For":[155],"receivers,":[158],"estimated":[160],"root":[162],"mean":[163],"square":[164],"error":[165],"(RMSE)":[166],"less":[168],"than":[169],"at":[170],"16%":[172],"up":[173],"maximum":[176,197],"41%":[179],"comparison":[185],"model.":[189,203],"Also,":[190],"most":[191],"magnitude":[194],"deviations":[198],"reduced":[200],"It":[204],"must":[205],"also":[206],"be":[207],"noted":[208],"that":[209],"does":[212],"not":[213],"incorporate":[214],"any":[215],"additional":[216],"computational":[217],"load":[218],"apart":[219],"from":[220],"initial":[222],"calibration":[223],"open-sky":[226],"static":[227],"environment.":[228]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-08T15:41:06.802602","created_date":"2025-10-10T00:00:00"}