{"id":"https://openalex.org/W4405304193","doi":"https://doi.org/10.1109/ipin62893.2024.10786170","title":"An Observability-Constrained Magnetic Field-Aided Inertial Navigation System","display_name":"An Observability-Constrained Magnetic Field-Aided Inertial Navigation System","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405304193","doi":"https://doi.org/10.1109/ipin62893.2024.10786170"},"language":"en","primary_location":{"id":"doi:10.1109/ipin62893.2024.10786170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ipin62893.2024.10786170","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 14th International Conference on Indoor Positioning and Indoor Navigation (IPIN)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-211985","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101912486","display_name":"Chuan Huang","orcid":"https://orcid.org/0000-0001-5965-0823"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Chuan Huang","raw_affiliation_strings":["Linköping University,Dept. of Electrical Engineering,Linköping,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Linköping University,Dept. of Electrical Engineering,Linköping,Sweden","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001137240","display_name":"Gustaf Hendeby","orcid":"https://orcid.org/0000-0002-1971-4295"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Gustaf Hendeby","raw_affiliation_strings":["Linköping University,Dept. of Electrical Engineering,Linköping,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Linköping University,Dept. of Electrical Engineering,Linköping,Sweden","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057769293","display_name":"Isaac Skog","orcid":"https://orcid.org/0000-0002-3054-6413"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Isaac Skog","raw_affiliation_strings":["KTH Royal Institute of Technology,Div. of Communication Systems,Stockholm,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Div. of Communication Systems,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2655,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.88851602,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"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":0.9979000091552734,"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":0.9979000091552734,"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":0.9104999899864197,"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/observability","display_name":"Observability","score":0.9511319398880005},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.706957221031189},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5444194078445435},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5367805361747742},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20041659474372864},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12654641270637512},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07512912154197693}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.9511319398880005},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.706957221031189},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5444194078445435},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5367805361747742},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20041659474372864},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12654641270637512},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07512912154197693},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ipin62893.2024.10786170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ipin62893.2024.10786170","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 14th International Conference on Indoor Positioning and Indoor Navigation (IPIN)","raw_type":"proceedings-article"},{"id":"pmh:oai:DiVA.org:liu-211985","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-211985","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:liu-211985","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-211985","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2027055074","https://openalex.org/W2051349034","https://openalex.org/W2056358962","https://openalex.org/W2121461705","https://openalex.org/W2125168079","https://openalex.org/W2128832103","https://openalex.org/W2768018028","https://openalex.org/W2900470576","https://openalex.org/W2963566952","https://openalex.org/W3012035441","https://openalex.org/W3092613417","https://openalex.org/W4206172830","https://openalex.org/W4323539420","https://openalex.org/W4387513993","https://openalex.org/W4393207169"],"related_works":["https://openalex.org/W2387696481","https://openalex.org/W2062158686","https://openalex.org/W2388366184","https://openalex.org/W4247347568","https://openalex.org/W4250716077","https://openalex.org/W2024124515","https://openalex.org/W4300961947","https://openalex.org/W2415234998","https://openalex.org/W23037264","https://openalex.org/W2374423985"],"abstract_inverted_index":{"Maintaining":[0],"consistent":[1,113],"uncertainty":[2,12,106,117],"estimates":[3,49],"in":[4],"localization":[5],"systems":[6],"is":[7,35,81,111],"crucial":[8],"as":[9,19],"the":[10,39,58,91,98,104,109,115,119],"perceived":[11,105],"commonly":[13],"affects":[14],"high-level":[15],"system":[16,34,92],"components,":[17],"such":[18],"control":[20],"or":[21],"decision":[22],"processes.":[23],"A":[24],"method":[25,55,80],"for":[26],"constructing":[27],"an":[28],"observability-constrained":[29,61],"magnetic":[30,72],"field-aided":[31],"inertial":[32,75],"navigation":[33,76],"proposed":[36,54,60,79],"to":[37,47,68],"address":[38],"issue":[40],"of":[41,50,118],"erroneous":[42],"yaw":[43,51],"observability,":[44],"which":[45],"leads":[46],"inconsistent":[48],"uncertainty.":[52],"The":[53,78],"builds":[56],"upon":[57],"previously":[59],"extended":[62],"Kalman":[63],"filter":[64,120],"and":[65,85,102],"extends":[66],"it":[67],"work":[69],"with":[70,114],"a":[71],"field-based":[73],"odometry-aided":[74],"system.":[77],"evaluated":[82],"using":[83],"simulation":[84],"real-world":[86],"data,":[87],"showing":[88],"that":[89],"(i)":[90],"observability":[93],"properties":[94],"are":[95],"preserved,":[96],"(ii)":[97],"estimation":[99],"accuracy":[100],"increases,":[101],"(iii)":[103],"calculated":[107],"by":[108],"EKF":[110],"more":[112],"true":[116],"estimates.":[121]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}