{"id":"https://openalex.org/W2005772744","doi":"https://doi.org/10.1109/icra.2012.6224564","title":"Complementary filtering approach to orientation estimation using inertial sensors only","display_name":"Complementary filtering approach to orientation estimation using inertial sensors only","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2005772744","doi":"https://doi.org/10.1109/icra.2012.6224564","mag":"2005772744"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5064831473","display_name":"Vladim\u00edr Kubelka","orcid":"https://orcid.org/0000-0001-8393-9969"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Vladimir Kubelka","raw_affiliation_strings":["Department of Measurement, Faculty of Electrical Engineering, Czech Technical University, Prague, Czech Republic","Department of Measurement, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Czech Republic"],"affiliations":[{"raw_affiliation_string":"Department of Measurement, Faculty of Electrical Engineering, Czech Technical University, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Department of Measurement, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102857030","display_name":"Michal Rein\u0161tein","orcid":"https://orcid.org/0000-0003-1380-5935"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Michal Reinstein","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Prague, Czech Republic","Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Czech Republic"],"affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5064831473"],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":182.4478,"has_fulltext":false,"cited_by_count":54,"citation_normalized_percentile":{"value":0.99931315,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"599","last_page":"605"},"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":0.9973999857902527,"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/T14163","display_name":"Astronomical Observations and Instrumentation","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/attitude-and-heading-reference-system","display_name":"Attitude and heading reference system","score":0.9707993865013123},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.7608424425125122},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.7286372184753418},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.6062817573547363},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5976147651672363},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5841951966285706},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5832633972167969},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5528962016105652},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.48480239510536194},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46914544701576233},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46874740719795227},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.4598700702190399},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.458503782749176},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.42411336302757263},{"id":"https://openalex.org/keywords/magnetometer","display_name":"Magnetometer","score":0.418817400932312},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41506093740463257},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37363654375076294},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30300265550613403},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.19728583097457886},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11307156085968018},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10934421420097351},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07325851917266846}],"concepts":[{"id":"https://openalex.org/C204114589","wikidata":"https://www.wikidata.org/wiki/Q4248887","display_name":"Attitude and heading reference system","level":3,"score":0.9707993865013123},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.7608424425125122},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.7286372184753418},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.6062817573547363},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5976147651672363},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5841951966285706},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5832633972167969},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5528962016105652},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.48480239510536194},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46914544701576233},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46874740719795227},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.4598700702190399},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.458503782749176},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.42411336302757263},{"id":"https://openalex.org/C153946474","wikidata":"https://www.wikidata.org/wiki/Q333921","display_name":"Magnetometer","level":3,"score":0.418817400932312},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41506093740463257},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37363654375076294},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30300265550613403},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.19728583097457886},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11307156085968018},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10934421420097351},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07325851917266846},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6224564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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":27,"referenced_works":["https://openalex.org/W83771092","https://openalex.org/W592904438","https://openalex.org/W808958753","https://openalex.org/W822338686","https://openalex.org/W1520521269","https://openalex.org/W1564768010","https://openalex.org/W1835163229","https://openalex.org/W1964860276","https://openalex.org/W1974531087","https://openalex.org/W1982848437","https://openalex.org/W2045308959","https://openalex.org/W2050081727","https://openalex.org/W2095562258","https://openalex.org/W2103755599","https://openalex.org/W2108688391","https://openalex.org/W2113351721","https://openalex.org/W2122353055","https://openalex.org/W2131228539","https://openalex.org/W2131420149","https://openalex.org/W2134137151","https://openalex.org/W2141300793","https://openalex.org/W2159012223","https://openalex.org/W2284235502","https://openalex.org/W3087672182","https://openalex.org/W6623019563","https://openalex.org/W6623302480","https://openalex.org/W6631069871"],"related_works":["https://openalex.org/W2383240512","https://openalex.org/W4379529125","https://openalex.org/W2152170201","https://openalex.org/W2387901687","https://openalex.org/W2367746641","https://openalex.org/W2391531669","https://openalex.org/W4362721538","https://openalex.org/W1590923801","https://openalex.org/W2802037228","https://openalex.org/W2068657109"],"abstract_inverted_index":{"Precise":[0],"and":[1,30,36,47,60,94],"reliable":[2],"estimation":[3,82],"of":[4,23],"orientation":[5,26,81],"plays":[6],"crucial":[7],"role":[8],"for":[9],"any":[10],"mobile":[11],"robot":[12,109],"operating":[13],"in":[14,54,62],"unknown":[15],"environment.":[16],"The":[17],"most":[18],"common":[19],"solution":[20,121],"to":[21,69,80],"determination":[22],"the":[24,34,112,114,118],"three":[25],"angles:":[27],"pitch,":[28],"roll,":[29],"yaw,":[31],"relies":[32],"on":[33,90,123],"Attitude":[35],"Heading":[37],"Reference":[38],"System":[39],"(AHRS)":[40],"that":[41],"exploits":[42],"inertial":[43,84],"data":[44],"fusion":[45],"(accelerations":[46],"angular":[48],"rates)":[49],"with":[50],"magnetic":[51,63],"measurements.":[52],"However,":[53],"real":[55],"world":[56],"applications":[57],"strong":[58],"vibration":[59],"disturbances":[61],"field":[64],"usually":[65],"cause":[66],"this":[67],"approach":[68,79],"provide":[70],"poor":[71],"results.":[72],"Therefore,":[73],"we":[74],"have":[75],"devised":[76],"a":[77],"new":[78],"using":[83,101],"sensors":[85],"only.":[86],"It":[87],"is":[88],"based":[89,122],"modified":[91],"complementary":[92],"filtering":[93],"was":[95],"proved":[96],"by":[97,108],"precise":[98],"laboratory":[99],"testing":[100],"rotational":[102],"tilt":[103],"platform":[104],"as":[105,107],"well":[106,116],"field-testing.":[110],"In":[111],"final,":[113],"algorithm":[115],"outperformed":[117],"commercial":[119],"AHRS":[120],"magnetometer":[124],"aiding.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}