{"id":"https://openalex.org/W3158014508","doi":"https://doi.org/10.1109/icra48506.2021.9561150","title":"Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation","display_name":"Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3158014508","doi":"https://doi.org/10.1109/icra48506.2021.9561150","mag":"3158014508"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561150","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561150","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2104.14711","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058865703","display_name":"Natalia Pavlasek","orcid":null},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Natalia Pavlasek","raw_affiliation_strings":["McGill University,Department of Mechanical Engineering,Montreal,QC,Canada,H3A 0C3"],"affiliations":[{"raw_affiliation_string":"McGill University,Department of Mechanical Engineering,Montreal,QC,Canada,H3A 0C3","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025040079","display_name":"Alex Walsh","orcid":"https://orcid.org/0000-0002-3209-6479"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Alex Walsh","raw_affiliation_strings":["","McGill University, Montreal, Canada"],"affiliations":[{"raw_affiliation_string":"","institution_ids":[]},{"raw_affiliation_string":"McGill University, Montreal, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023450612","display_name":"James Richard Forbes","orcid":"https://orcid.org/0000-0002-1987-9268"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"James Richard Forbes","raw_affiliation_strings":["McGill University,Department of Mechanical Engineering,Montreal,QC,Canada,H3A 0C3"],"affiliations":[{"raw_affiliation_string":"McGill University,Department of Mechanical Engineering,Montreal,QC,Canada,H3A 0C3","institution_ids":["https://openalex.org/I5023651"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5058865703"],"corresponding_institution_ids":["https://openalex.org/I5023651"],"apc_list":null,"apc_paid":null,"fwci":0.14,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.52951613,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"5582","last_page":"5588"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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":0.9997000098228455,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9929999709129333,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7429928183555603},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6809380650520325},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.640009880065918},{"id":"https://openalex.org/keywords/multiplicative-function","display_name":"Multiplicative function","score":0.6092215776443481},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5671800971031189},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5481059551239014},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5429418683052063},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5242467522621155},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.48700815439224243},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4576742351055145},{"id":"https://openalex.org/keywords/ensemble-kalman-filter","display_name":"Ensemble Kalman filter","score":0.4555855393409729},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4351922869682312},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3514788746833801},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23565196990966797},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1258215308189392},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.10329386591911316}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7429928183555603},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6809380650520325},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.640009880065918},{"id":"https://openalex.org/C42747912","wikidata":"https://www.wikidata.org/wiki/Q1048447","display_name":"Multiplicative function","level":2,"score":0.6092215776443481},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5671800971031189},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5481059551239014},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5429418683052063},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5242467522621155},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.48700815439224243},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4576742351055145},{"id":"https://openalex.org/C79334102","wikidata":"https://www.wikidata.org/wiki/Q3072268","display_name":"Ensemble Kalman filter","level":4,"score":0.4555855393409729},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4351922869682312},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3514788746833801},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23565196990966797},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1258215308189392},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.10329386591911316},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9561150","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561150","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2104.14711","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.14711","pdf_url":"https://arxiv.org/pdf/2104.14711","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3158014508","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2104.14711.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2104.14711","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2104.14711","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2104.14711","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.14711","pdf_url":"https://arxiv.org/pdf/2104.14711","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3158014508.pdf","grobid_xml":"https://content.openalex.org/works/W3158014508.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W88520345","https://openalex.org/W1531532259","https://openalex.org/W1943808550","https://openalex.org/W2052317958","https://openalex.org/W2067018333","https://openalex.org/W2131653256","https://openalex.org/W2137815187","https://openalex.org/W2156464932","https://openalex.org/W2215394929","https://openalex.org/W2279625569","https://openalex.org/W2480859604","https://openalex.org/W2561679008","https://openalex.org/W2744953493","https://openalex.org/W2790804129","https://openalex.org/W2793832680","https://openalex.org/W2883252317","https://openalex.org/W2899676853","https://openalex.org/W2962771180","https://openalex.org/W3016307421","https://openalex.org/W3087672182","https://openalex.org/W4232464081","https://openalex.org/W6688465322","https://openalex.org/W6695250641","https://openalex.org/W6735863739","https://openalex.org/W6783774005","https://openalex.org/W7033182202"],"related_works":["https://openalex.org/W3205943828","https://openalex.org/W2387014127","https://openalex.org/W2899749200","https://openalex.org/W2103305579","https://openalex.org/W1485144746","https://openalex.org/W1482680353","https://openalex.org/W2181430697","https://openalex.org/W2082502248","https://openalex.org/W2354299011","https://openalex.org/W2487180186","https://openalex.org/W2051692575","https://openalex.org/W2380516352","https://openalex.org/W2554336960","https://openalex.org/W1970274411","https://openalex.org/W2937390859","https://openalex.org/W2467243661","https://openalex.org/W2162419158","https://openalex.org/W1580077921","https://openalex.org/W2943271060","https://openalex.org/W2171036647"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"the":[3,17,35,41,45,52,55,68,83,107,112,119],"use":[4,53],"of":[5,22,34,37,54],"two":[6,46],"position":[7,36,43],"receivers":[8,47],"and":[9,20,40,98],"an":[10],"inertial":[11],"measurement":[12,31],"unit":[13],"(IMU)":[14],"to":[15],"estimate":[16],"position,":[18],"velocity,":[19],"attitude":[21],"a":[23,91,99],"rigid":[24],"body,":[25],"collectively":[26],"called":[27],"extended":[28,57,71,94],"pose.":[29],"The":[30,62],"model":[32],"consisting":[33],"one":[38],"receiver":[39],"relative":[42],"between":[44],"is":[48],"left":[49],"invariant,":[50],"enabling":[51],"invariant":[56],"Kalman":[58,72,95],"filter":[59,96],"(IEKF)":[60],"framework.":[61],"IEKF":[63,85,101,114],"possesses":[64],"various":[65],"advantages":[66],"over":[67,90,118],"standard":[69],"multiplicative":[70,93],"filter,":[73],"such":[74],"as":[75],"state-estimate-independent":[76],"Jacobians.":[77],"Monte":[78],"Carlo":[79],"simulations":[80],"demonstrate":[81],"that":[82,111],"two-receiver":[84,92,113],"approach":[86],"yields":[87],"improved":[88,116],"estimates":[89],"(MEKF)":[97],"singlereceiver":[100],"approach.":[102],"An":[103],"experiment":[104],"further":[105],"validates":[106],"proposed":[108],"approach,":[109],"confirming":[110],"has":[115],"performance":[117],"other":[120],"filters":[121],"considered.":[122]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
