{"id":"https://openalex.org/W2120148116","doi":"https://doi.org/10.1109/icra.2011.5980488","title":"Experimental evaluation of an inertial navigation system for underwater robotic vehicles","display_name":"Experimental evaluation of an inertial navigation system for underwater robotic vehicles","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2120148116","doi":"https://doi.org/10.1109/icra.2011.5980488","mag":"2120148116"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980488","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980488","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5063518200","display_name":"Giancarlo Troni","orcid":"https://orcid.org/0000-0002-1517-8739"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Giancarlo Troni","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","Department of mechanical engineering, Johns Hopkins University, Baltimore, MD 21218, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of mechanical engineering, Johns Hopkins University, Baltimore, MD 21218, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015790922","display_name":"Christopher McFarland","orcid":"https://orcid.org/0000-0002-5023-4388"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher J. McFarland","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","Department of mechanical engineering, Johns Hopkins University, Baltimore, MD 21218, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of mechanical engineering, Johns Hopkins University, Baltimore, MD 21218, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081321734","display_name":"Kirk A. Nichols","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kirk A. Nichols","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","Department of mechanical engineering, Johns Hopkins University, Baltimore, MD 21218, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of mechanical engineering, Johns Hopkins University, Baltimore, MD 21218, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022475465","display_name":"Louis L. Whitcomb","orcid":"https://orcid.org/0000-0003-2398-1000"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Louis L. Whitcomb","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","Department of mechanical engineering, Johns Hopkins University, Baltimore, MD 21218, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of mechanical engineering, Johns Hopkins University, Baltimore, MD 21218, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5063518200"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":1.3052,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.83665494,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"6","issue":null,"first_page":"3064","last_page":"3071"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11698","display_name":"Underwater Acoustics Research","score":0.9984999895095825,"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"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9966999888420105,"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/inertial-navigation-system","display_name":"Inertial navigation system","score":0.8592284917831421},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.7255130410194397},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.6206638216972351},{"id":"https://openalex.org/keywords/wind-triangle","display_name":"Wind triangle","score":0.5991072654724121},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5580525398254395},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.544338047504425},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5326924324035645},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.5186682939529419},{"id":"https://openalex.org/keywords/lock","display_name":"Lock (firearm)","score":0.4271204173564911},{"id":"https://openalex.org/keywords/air-navigation","display_name":"Air navigation","score":0.4149460792541504},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37638044357299805},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.3722451329231262},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3358328938484192},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.3329944610595703},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3277912139892578},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2326298952102661},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20262694358825684},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18718057870864868},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.10637772083282471},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.10298070311546326}],"concepts":[{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.8592284917831421},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.7255130410194397},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.6206638216972351},{"id":"https://openalex.org/C178001088","wikidata":"https://www.wikidata.org/wiki/Q2583453","display_name":"Wind triangle","level":5,"score":0.5991072654724121},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5580525398254395},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.544338047504425},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5326924324035645},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.5186682939529419},{"id":"https://openalex.org/C174839445","wikidata":"https://www.wikidata.org/wiki/Q1134386","display_name":"Lock (firearm)","level":2,"score":0.4271204173564911},{"id":"https://openalex.org/C504623915","wikidata":"https://www.wikidata.org/wiki/Q1427822","display_name":"Air navigation","level":3,"score":0.4149460792541504},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37638044357299805},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.3722451329231262},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3358328938484192},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.3329944610595703},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3277912139892578},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2326298952102661},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20262694358825684},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18718057870864868},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.10637772083282471},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10298070311546326},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980488","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980488","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.6899999976158142,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W57807023","https://openalex.org/W1542112886","https://openalex.org/W1562276967","https://openalex.org/W1577987496","https://openalex.org/W1607802454","https://openalex.org/W1607829695","https://openalex.org/W1758058526","https://openalex.org/W1812064485","https://openalex.org/W1956033670","https://openalex.org/W1968939988","https://openalex.org/W1983879820","https://openalex.org/W2000029159","https://openalex.org/W2006520685","https://openalex.org/W2040720912","https://openalex.org/W2100866919","https://openalex.org/W2117491174","https://openalex.org/W2140428171","https://openalex.org/W2149522510","https://openalex.org/W2159328935","https://openalex.org/W2165991001","https://openalex.org/W2169624475","https://openalex.org/W2318991643","https://openalex.org/W3142409374","https://openalex.org/W6650410368"],"related_works":["https://openalex.org/W2765514429","https://openalex.org/W2353128189","https://openalex.org/W2008882664","https://openalex.org/W1940389892","https://openalex.org/W2393713006","https://openalex.org/W2377925798","https://openalex.org/W2371986717","https://openalex.org/W4387713532","https://openalex.org/W2574511778","https://openalex.org/W2366369268"],"abstract_inverted_index":{"This":[0],"paper":[1],"reports":[2],"the":[3,11,24,29,32,40,43,51,93],"results":[4],"of":[5,10,15,26,35,42,50],"an":[6],"in-water":[7],"laboratory":[8,71],"evaluation":[9],"state":[12,45,53],"estimation":[13],"accuracy":[14,30,41,49],"a":[16,63,86],"commercially":[17],"available":[18,68],"inertial":[19],"navigation":[20,48,60,66],"system":[21,67],"(INS),":[22],"and":[23,31,85],"effect":[25],"variations":[27],"in":[28,69],"update":[33],"rate":[34],"INS":[36,44,52],"correction":[37],"data":[38,61],"on":[39],"estimate.":[46],"The":[47],"estimate":[54],"is":[55,90],"evaluated":[56],"by":[57],"comparison":[58],"with":[59],"from":[62],"highly":[64],"accurate":[65],"our":[70],"that":[72,89],"employs":[73],"high-frequency":[74],"acoustic":[75],"time-of-flight":[76],"ranging,":[77],"precision":[78],"pressure":[79],"depth":[80],"sensing,":[81],"bottom-lock":[82],"Doppler":[83],"sonar,":[84],"true-North-seeking":[87],"gyrocompass":[88],"integral":[91],"to":[92],"INS.":[94]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
