{"id":"https://openalex.org/W4386978315","doi":"https://doi.org/10.1109/ipin57070.2023.10332509","title":"Gyro-Free Kalman Filter with Unknown Inputs for SO(3)-based Attitude Estimation","display_name":"Gyro-Free Kalman Filter with Unknown Inputs for SO(3)-based Attitude Estimation","publication_year":2023,"publication_date":"2023-09-25","ids":{"openalex":"https://openalex.org/W4386978315","doi":"https://doi.org/10.1109/ipin57070.2023.10332509"},"language":"en","primary_location":{"id":"doi:10.1109/ipin57070.2023.10332509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ipin57070.2023.10332509","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 13th International Conference on Indoor Positioning and Indoor Navigation (IPIN)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04213739v1/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092926159","display_name":"Ghadeer Shaaban","orcid":"https://orcid.org/0000-0002-3371-0725"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Ghadeer Shaaban","raw_affiliation_strings":["Univ. Grenoble Alpes, CNRS,Inria"],"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, CNRS,Inria","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I1294671590","https://openalex.org/I899635006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008384064","display_name":"Hassen Fourati","orcid":"https://orcid.org/0000-0002-8398-7183"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Hassen Fourati","raw_affiliation_strings":["Univ. Grenoble Alpes, CNRS,Inria"],"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, CNRS,Inria","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I1294671590","https://openalex.org/I899635006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027348635","display_name":"Alain Y. Kibangou","orcid":"https://orcid.org/0000-0002-8662-2534"},"institutions":[{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Alain Kibangou","raw_affiliation_strings":["Univ. Grenoble Alpes, CNRS,Inria"],"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, CNRS,Inria","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I1294671590","https://openalex.org/I899635006"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083387069","display_name":"Christophe Prieur","orcid":"https://orcid.org/0000-0002-4456-2019"},"institutions":[{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I4210124956","display_name":"Grenoble Images Parole Signal Automatique","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christophe Prieur","raw_affiliation_strings":["Grenoble INP, GIPSA-lab,Grenoble,France"],"affiliations":[{"raw_affiliation_string":"Grenoble INP, GIPSA-lab,Grenoble,France","institution_ids":["https://openalex.org/I106785703","https://openalex.org/I4210124956"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5092926159"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101348","https://openalex.org/I899635006"],"apc_list":null,"apc_paid":null,"fwci":3.0608,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.9262278,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9983999729156494,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9900000095367432,"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/gyroscope","display_name":"Gyroscope","score":0.8959063291549683},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7640506029129028},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.7020884156227112},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6797851324081421},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5930137038230896},{"id":"https://openalex.org/keywords/magnetometer","display_name":"Magnetometer","score":0.5675930380821228},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.5670021772384644},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.5404561161994934},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49398618936538696},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3241800367832184},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2973161041736603},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26152926683425903},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16108763217926025},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.07801589369773865}],"concepts":[{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.8959063291549683},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7640506029129028},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.7020884156227112},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6797851324081421},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5930137038230896},{"id":"https://openalex.org/C153946474","wikidata":"https://www.wikidata.org/wiki/Q333921","display_name":"Magnetometer","level":3,"score":0.5675930380821228},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.5670021772384644},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.5404561161994934},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49398618936538696},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3241800367832184},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2973161041736603},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26152926683425903},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16108763217926025},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.07801589369773865},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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":2,"locations":[{"id":"doi:10.1109/ipin57070.2023.10332509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ipin57070.2023.10332509","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 13th International Conference on Indoor Positioning and Indoor Navigation (IPIN)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04213739v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04213739","pdf_url":"https://hal.science/hal-04213739v1/document","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://ipin-conference.org/2023/","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04213739v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04213739","pdf_url":"https://hal.science/hal-04213739v1/document","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://ipin-conference.org/2023/","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386978315.pdf","grobid_xml":"https://content.openalex.org/works/W4386978315.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W650923498","https://openalex.org/W1969995353","https://openalex.org/W1990138055","https://openalex.org/W2006863675","https://openalex.org/W2057798714","https://openalex.org/W2064815138","https://openalex.org/W2074186842","https://openalex.org/W2098424985","https://openalex.org/W2120665422","https://openalex.org/W2125079402","https://openalex.org/W2142089368","https://openalex.org/W2161872204","https://openalex.org/W2192898626","https://openalex.org/W2545846537","https://openalex.org/W2604425362","https://openalex.org/W2744953493","https://openalex.org/W2776443693","https://openalex.org/W2889344085","https://openalex.org/W2954945147","https://openalex.org/W3016307421","https://openalex.org/W4206907900"],"related_works":["https://openalex.org/W2174371440","https://openalex.org/W2063968051","https://openalex.org/W2349345409","https://openalex.org/W2023296447","https://openalex.org/W1035502194","https://openalex.org/W2373597118","https://openalex.org/W4206024512","https://openalex.org/W2164404293","https://openalex.org/W2053335193","https://openalex.org/W2605568314"],"abstract_inverted_index":{"Rotational":[0],"motion":[1],"(or":[2],"attitude)":[3],"estimation":[4,65,120],"algorithms":[5],"in":[6,66],"navigation":[7],"rely":[8],"mainly":[9],"on":[10],"measurements":[11,100],"from":[12,101],"a":[13,18,56],"set":[14],"of":[15,39,82],"sensors,":[16,106],"including":[17],"magnetometer,":[19],"gyroscope":[20,41],"and":[21,29,42,104,107],"accelerometer,":[22],"also":[23],"known":[24,95],"as":[25,77],"magnetic,":[26],"angular":[27,75],"rate,":[28],"gravity":[30],"(MARG)":[31],"sensor":[32,123],"array.":[33,124],"However,":[34],"the":[35,40,47,67,74,83,94,109],"significant":[36],"power":[37],"consumption":[38],"its":[43],"intrinsic":[44],"bias":[45],"motivate":[46],"need":[48],"for":[49,63,118],"more":[50],"suitable":[51],"solutions.":[52],"In":[53],"this":[54],"paper,":[55],"robust":[57],"two-stage":[58],"Kalman":[59,112],"filter":[60],"is":[61,116],"designed":[62],"attitude":[64],"special":[68],"orthogonal":[69],"group":[70],"SO(3),":[71],"by":[72],"considering":[73],"velocity":[76],"unknown":[78],"input.":[79],"The":[80],"performance":[81],"proposed":[84],"algorithm":[85],"was":[86],"evaluated":[87],"through":[88],"Monte":[89],"Carlo":[90],"simulations":[91],"compared":[92],"to":[93,108],"TRIAD":[96],"algorithm,":[97],"which":[98,115],"utilizes":[99],"only":[102],"accelerometer":[103],"magnetometer":[105],"Invariant":[110],"Extended":[111],"Filter":[113],"(IEKF),":[114],"applied":[117],"SO(3)":[119],"using":[121],"MARG":[122]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-14T08:43:22.919905","created_date":"2025-10-10T00:00:00"}