{"id":"https://openalex.org/W4402219158","doi":"https://doi.org/10.1109/icrca60878.2024.10648989","title":"A Hybrid Method for INS/GPS Integrated Navigation System Based on the Improved Karman Filter and Back Propagation Neural Network","display_name":"A Hybrid Method for INS/GPS Integrated Navigation System Based on the Improved Karman Filter and Back Propagation Neural Network","publication_year":2024,"publication_date":"2024-01-12","ids":{"openalex":"https://openalex.org/W4402219158","doi":"https://doi.org/10.1109/icrca60878.2024.10648989"},"language":"en","primary_location":{"id":"doi:10.1109/icrca60878.2024.10648989","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icrca60878.2024.10648989","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 8th International Conference on Robotics, Control and Automation (ICRCA)","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/A5081133554","display_name":"Mutian Hu","orcid":"https://orcid.org/0000-0001-6349-2397"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mutian Hu","raw_affiliation_strings":["School of Aerospace Engineering, Beijing Institute of Technology,Beijing,China"],"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Beijing Institute of Technology,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5118899931","display_name":"Tao Song","orcid":"https://orcid.org/0000-0002-4238-0975"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Song","raw_affiliation_strings":["School of Aerospace Engineering, Beijing Institute of Technology,Beijing,China"],"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Beijing Institute of Technology,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026487222","display_name":"Jianchuan Ye","orcid":"https://orcid.org/0000-0002-2625-4872"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianchuan Ye","raw_affiliation_strings":["Tsinghua University,Department of Computer Science and Technology,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Computer Science and Technology,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5081133554"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12470566,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"477","last_page":"484"},"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":0.9990000128746033,"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":0.9990000128746033,"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":0.9987999796867371,"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/T10655","display_name":"GNSS positioning and interference","score":0.9850000143051147,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.8240115642547607},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6326871514320374},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5922921895980835},{"id":"https://openalex.org/keywords/gps/ins","display_name":"GPS/INS","score":0.5349539518356323},{"id":"https://openalex.org/keywords/backpropagation","display_name":"Backpropagation","score":0.4762432873249054},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.46533316373825073},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.44676294922828674},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.32440781593322754},{"id":"https://openalex.org/keywords/assisted-gps","display_name":"Assisted GPS","score":0.26870226860046387},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.25947386026382446},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24967139959335327},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1893291473388672},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.1881553828716278},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.16145575046539307}],"concepts":[{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.8240115642547607},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6326871514320374},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5922921895980835},{"id":"https://openalex.org/C193183557","wikidata":"https://www.wikidata.org/wiki/Q195126","display_name":"GPS/INS","level":4,"score":0.5349539518356323},{"id":"https://openalex.org/C155032097","wikidata":"https://www.wikidata.org/wiki/Q798503","display_name":"Backpropagation","level":3,"score":0.4762432873249054},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.46533316373825073},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.44676294922828674},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.32440781593322754},{"id":"https://openalex.org/C198613851","wikidata":"https://www.wikidata.org/wiki/Q432394","display_name":"Assisted GPS","level":3,"score":0.26870226860046387},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25947386026382446},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24967139959335327},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1893291473388672},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.1881553828716278},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.16145575046539307}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icrca60878.2024.10648989","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icrca60878.2024.10648989","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 8th International Conference on Robotics, Control and Automation (ICRCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W102487131","https://openalex.org/W1595159159","https://openalex.org/W1969729144","https://openalex.org/W1982322007","https://openalex.org/W2005609153","https://openalex.org/W2027881735","https://openalex.org/W2042253843","https://openalex.org/W2046033161","https://openalex.org/W2054091988","https://openalex.org/W2066523316","https://openalex.org/W2072035745","https://openalex.org/W2099371695","https://openalex.org/W2169438176","https://openalex.org/W2514550022","https://openalex.org/W2534341274","https://openalex.org/W2553838196","https://openalex.org/W2620741975","https://openalex.org/W2726592172","https://openalex.org/W2729414995","https://openalex.org/W2732171826","https://openalex.org/W2745449279","https://openalex.org/W2790374560","https://openalex.org/W2945065450","https://openalex.org/W2946401369","https://openalex.org/W2969495885","https://openalex.org/W3015247165","https://openalex.org/W3111651974","https://openalex.org/W4282832218"],"related_works":["https://openalex.org/W1990299967","https://openalex.org/W2489733227","https://openalex.org/W2037108571","https://openalex.org/W3164861920","https://openalex.org/W2084193545","https://openalex.org/W45260879","https://openalex.org/W1532474082","https://openalex.org/W4296453821","https://openalex.org/W1934738837","https://openalex.org/W2390992067"],"abstract_inverted_index":{"The":[0,83],"navigation":[1,13],"system":[2,14,19],"for":[3,43,80],"unmanned":[4],"aerial":[5],"vehicle":[6],"is":[7,41,78,86],"commonly":[8],"integrated":[9],"by":[10],"the":[11,45,97,110,117,132],"inertial":[12],"(INS)":[15],"and":[16,57,65,105,135],"global":[17],"positioning":[18],"(GPS).":[20],"Nevertheless,":[21],"errors":[22],"of":[23,47,54],"INS/GPS":[24],"accumulate":[25],"over":[26],"time":[27],"when":[28,160],"GPS":[29,81,106,161],"suffers":[30],"from":[31],"outages.":[32,82],"In":[33,67],"this":[34],"paper,":[35],"a":[36],"comprehensive":[37],"filter":[38,49,56,60],"called":[39],"MH\u221e-5thCKF":[40,125],"proposed":[42,141],"taking":[44],"place":[46],"Karman":[48],"(KF).":[50],"It":[51],"combines":[52],"superiorities":[53],"H-infinity":[55],"multiple":[58],"fading":[59],"to":[61,69,88,108,156,163],"enhance":[62,145],"filtering":[63,146],"precision":[64],"robustness.":[66],"addition":[68],"MH\u221e-5thCKF,":[70],"an":[71],"optimized":[72],"back":[73],"propagation":[74],"neural":[75],"network":[76],"(BPNN)":[77],"utilized":[79],"ELSHADE-SPACMA":[84],"algorithm":[85],"introduced":[87],"select":[89],"BPNN":[90,99,119,151],"parameters.":[91],"When":[92],"satellite":[93,113],"signals":[94,114],"are":[95,115],"available,":[96],"improved":[98,118],"uses":[100],"angular":[101],"rates,":[102],"specific":[103],"forces":[104],"increments":[107],"train":[109],"model.":[111],"Once":[112],"lost,":[116],"predicts":[120],"pseudo-GPS":[121],"information":[122],"so":[123],"that":[124,140],"continues":[126],"compensating":[127],"INS":[128],"errors.":[129],"Compared":[130],"with":[131],"conventional":[133],"KF":[134],"BPNN,":[136],"simulation":[137],"results":[138],"demonstrate":[139],"algorithms":[142],"not":[143],"only":[144],"performance,":[147],"but":[148],"also":[149],"avoid":[150],"falling":[152],"into":[153],"local":[154],"optimum":[155],"guarantee":[157],"model":[158],"stability":[159],"fails":[162],"work.":[164]},"counts_by_year":[],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}
