{"id":"https://openalex.org/W2908707683","doi":"https://doi.org/10.1109/iros.2018.8593556","title":"A Comparative Study on Sigma-Point Kalman Filters for Trajectory Estimation of Hybrid Aerial-Aquatic Vehicles","display_name":"A Comparative Study on Sigma-Point Kalman Filters for Trajectory Estimation of Hybrid Aerial-Aquatic Vehicles","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2908707683","doi":"https://doi.org/10.1109/iros.2018.8593556","mag":"2908707683"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593556","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593556","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5011533639","display_name":"Romulo Thiago Silva da Rosa","orcid":null},"institutions":[{"id":"https://openalex.org/I126460647","display_name":"Universidade Federal do Rio Grande","ror":"https://ror.org/05hpfkn88","country_code":"BR","type":"education","lineage":["https://openalex.org/I126460647"]},{"id":"https://openalex.org/I94328231","display_name":"University of Rio Grande and Rio Grande Community College","ror":"https://ror.org/02sghbs34","country_code":"US","type":"education","lineage":["https://openalex.org/I94328231"]}],"countries":["BR","US"],"is_corresponding":false,"raw_author_name":"Romulo T. S. da Rosa","raw_affiliation_strings":["Centro de Ciências Computacionais, C3, Univ. Federal do Rio Grande, FURG, NAUTEC, Rio Grande, Brazil","NAUTEC, C3, Univ. Federal do Rio Grande, Rio Grande, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro de Ciências Computacionais, C3, Univ. Federal do Rio Grande, FURG, NAUTEC, Rio Grande, Brazil","institution_ids":["https://openalex.org/I94328231","https://openalex.org/I126460647"]},{"raw_affiliation_string":"NAUTEC, C3, Univ. Federal do Rio Grande, Rio Grande, Brazil","institution_ids":["https://openalex.org/I126460647"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006158794","display_name":"Paulo Jefferson Dias de Oliveira Evald","orcid":"https://orcid.org/0000-0002-5383-053X"},"institutions":[{"id":"https://openalex.org/I126460647","display_name":"Universidade Federal do Rio Grande","ror":"https://ror.org/05hpfkn88","country_code":"BR","type":"education","lineage":["https://openalex.org/I126460647"]},{"id":"https://openalex.org/I94328231","display_name":"University of Rio Grande and Rio Grande Community College","ror":"https://ror.org/02sghbs34","country_code":"US","type":"education","lineage":["https://openalex.org/I94328231"]}],"countries":["BR","US"],"is_corresponding":false,"raw_author_name":"Paulo J. D. O. Evald","raw_affiliation_strings":["Centro de Ciências Computacionais, C3, Univ. Federal do Rio Grande, FURG, NAUTEC, Rio Grande, Brazil","NAUTEC, C3, Univ. Federal do Rio Grande, Rio Grande, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro de Ciências Computacionais, C3, Univ. Federal do Rio Grande, FURG, NAUTEC, Rio Grande, Brazil","institution_ids":["https://openalex.org/I94328231","https://openalex.org/I126460647"]},{"raw_affiliation_string":"NAUTEC, C3, Univ. Federal do Rio Grande, Rio Grande, Brazil","institution_ids":["https://openalex.org/I126460647"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037041582","display_name":"Paulo Drews","orcid":"https://orcid.org/0000-0002-7519-0502"},"institutions":[{"id":"https://openalex.org/I126460647","display_name":"Universidade Federal do Rio Grande","ror":"https://ror.org/05hpfkn88","country_code":"BR","type":"education","lineage":["https://openalex.org/I126460647"]},{"id":"https://openalex.org/I94328231","display_name":"University of Rio Grande and Rio Grande Community College","ror":"https://ror.org/02sghbs34","country_code":"US","type":"education","lineage":["https://openalex.org/I94328231"]}],"countries":["BR","US"],"is_corresponding":false,"raw_author_name":"Paulo L.J. Drews","raw_affiliation_strings":["Centro de Ciências Computacionais, C3, Univ. Federal do Rio Grande, FURG, NAUTEC, Rio Grande, Brazil","NAUTEC, C3, Univ. Federal do Rio Grande, Rio Grande, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro de Ciências Computacionais, C3, Univ. Federal do Rio Grande, FURG, NAUTEC, Rio Grande, Brazil","institution_ids":["https://openalex.org/I94328231","https://openalex.org/I126460647"]},{"raw_affiliation_string":"NAUTEC, C3, Univ. Federal do Rio Grande, Rio Grande, Brazil","institution_ids":["https://openalex.org/I126460647"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083656237","display_name":"Armando Alves Neto","orcid":"https://orcid.org/0000-0002-4940-0377"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Armando A. Neto","raw_affiliation_strings":["Univ. Federal de Minas Gerais, UFMG, Dep. de Engenharia Eletrônica, Belo Horizonte, Brazil","Dep. de Engenharia Eletr\u00f4nica, Univ. Federal de Minas Gerais, Belo Horizonte, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Federal de Minas Gerais, UFMG, Dep. de Engenharia Eletrônica, Belo Horizonte, Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Dep. de Engenharia Eletr\u00f4nica, Univ. Federal de Minas Gerais, Belo Horizonte, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049519628","display_name":"Alexandre C. Horn","orcid":null},"institutions":[{"id":"https://openalex.org/I126460647","display_name":"Universidade Federal do Rio Grande","ror":"https://ror.org/05hpfkn88","country_code":"BR","type":"education","lineage":["https://openalex.org/I126460647"]},{"id":"https://openalex.org/I94328231","display_name":"University of Rio Grande and Rio Grande Community College","ror":"https://ror.org/02sghbs34","country_code":"US","type":"education","lineage":["https://openalex.org/I94328231"]}],"countries":["BR","US"],"is_corresponding":false,"raw_author_name":"Alexandre C. Horn","raw_affiliation_strings":["Centro de Ciências Computacionais, C3, Univ. Federal do Rio Grande, FURG, NAUTEC, Rio Grande, Brazil","NAUTEC, C3, Univ. Federal do Rio Grande, Rio Grande, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro de Ciências Computacionais, C3, Univ. Federal do Rio Grande, FURG, NAUTEC, Rio Grande, Brazil","institution_ids":["https://openalex.org/I94328231","https://openalex.org/I126460647"]},{"raw_affiliation_string":"NAUTEC, C3, Univ. Federal do Rio Grande, Rio Grande, Brazil","institution_ids":["https://openalex.org/I126460647"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007764916","display_name":"Rodrigo Zelir Azzolin","orcid":"https://orcid.org/0000-0003-3797-7504"},"institutions":[{"id":"https://openalex.org/I126460647","display_name":"Universidade Federal do Rio Grande","ror":"https://ror.org/05hpfkn88","country_code":"BR","type":"education","lineage":["https://openalex.org/I126460647"]},{"id":"https://openalex.org/I94328231","display_name":"University of Rio Grande and Rio Grande Community College","ror":"https://ror.org/02sghbs34","country_code":"US","type":"education","lineage":["https://openalex.org/I94328231"]}],"countries":["BR","US"],"is_corresponding":false,"raw_author_name":"Rodrigo Z. Azzolin","raw_affiliation_strings":["Centro de Ciências Computacionais, C3, Univ. Federal do Rio Grande, FURG, NAUTEC, Rio Grande, Brazil","NAUTEC, C3, Univ. Federal do Rio Grande, Rio Grande, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro de Ciências Computacionais, C3, Univ. Federal do Rio Grande, FURG, NAUTEC, Rio Grande, Brazil","institution_ids":["https://openalex.org/I94328231","https://openalex.org/I126460647"]},{"raw_affiliation_string":"NAUTEC, C3, Univ. Federal do Rio Grande, Rio Grande, Brazil","institution_ids":["https://openalex.org/I126460647"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029568844","display_name":"S\u00edlvia Silva da Costa Botelho","orcid":"https://orcid.org/0000-0002-8857-0221"},"institutions":[{"id":"https://openalex.org/I126460647","display_name":"Universidade Federal do Rio Grande","ror":"https://ror.org/05hpfkn88","country_code":"BR","type":"education","lineage":["https://openalex.org/I126460647"]},{"id":"https://openalex.org/I94328231","display_name":"University of Rio Grande and Rio Grande Community College","ror":"https://ror.org/02sghbs34","country_code":"US","type":"education","lineage":["https://openalex.org/I94328231"]}],"countries":["BR","US"],"is_corresponding":false,"raw_author_name":"Silvia S. C. Botelho","raw_affiliation_strings":["Centro de Ciências Computacionais, C3, Univ. Federal do Rio Grande, FURG, NAUTEC, Rio Grande, Brazil","NAUTEC, C3, Univ. Federal do Rio Grande, Rio Grande, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro de Ciências Computacionais, C3, Univ. Federal do Rio Grande, FURG, NAUTEC, Rio Grande, Brazil","institution_ids":["https://openalex.org/I94328231","https://openalex.org/I126460647"]},{"raw_affiliation_string":"NAUTEC, C3, Univ. Federal do Rio Grande, Rio Grande, Brazil","institution_ids":["https://openalex.org/I126460647"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5206,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.87526033,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7460","last_page":"7465"},"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":0.9998999834060669,"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":0.9998999834060669,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9962000250816345,"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/kalman-filter","display_name":"Kalman filter","score":0.8095299005508423},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6594935655593872},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6541856527328491},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6473559141159058},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6384186744689941},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5956356525421143},{"id":"https://openalex.org/keywords/unscented-transform","display_name":"Unscented transform","score":0.5462105870246887},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5119212865829468},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5090205669403076},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.45829424262046814},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.44947949051856995},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.446077823638916},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4187445044517517},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27959927916526794},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14958766102790833},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.11187371611595154}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.8095299005508423},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6594935655593872},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6541856527328491},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6473559141159058},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6384186744689941},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5956356525421143},{"id":"https://openalex.org/C139399703","wikidata":"https://www.wikidata.org/wiki/Q7897426","display_name":"Unscented transform","level":5,"score":0.5462105870246887},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5119212865829468},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5090205669403076},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.45829424262046814},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.44947949051856995},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.446077823638916},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4187445044517517},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27959927916526794},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14958766102790833},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.11187371611595154},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8593556","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593556","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.800000011920929,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W88520345","https://openalex.org/W1214429388","https://openalex.org/W1500738884","https://openalex.org/W1520710862","https://openalex.org/W1749494163","https://openalex.org/W1843575698","https://openalex.org/W1964973847","https://openalex.org/W1995597265","https://openalex.org/W2013811797","https://openalex.org/W2015479059","https://openalex.org/W2020934227","https://openalex.org/W2025766927","https://openalex.org/W2043357888","https://openalex.org/W2054091988","https://openalex.org/W2063086479","https://openalex.org/W2078197553","https://openalex.org/W2099371695","https://openalex.org/W2105934661","https://openalex.org/W2107802551","https://openalex.org/W2221147406","https://openalex.org/W2237571475","https://openalex.org/W2529127215","https://openalex.org/W2565482210","https://openalex.org/W2605286413","https://openalex.org/W2772311278","https://openalex.org/W2960920658","https://openalex.org/W4232464081","https://openalex.org/W4233394821","https://openalex.org/W4237171445","https://openalex.org/W4255856279","https://openalex.org/W6655473528","https://openalex.org/W6765520589"],"related_works":["https://openalex.org/W2966342863","https://openalex.org/W2350305363","https://openalex.org/W3086876622","https://openalex.org/W4206622494","https://openalex.org/W4206024512","https://openalex.org/W2917624112","https://openalex.org/W2370718670","https://openalex.org/W3080167830","https://openalex.org/W2099544223","https://openalex.org/W2390558238"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,21],"study":[4],"on":[5,20],"nonlinear":[6,32,44,68],"state":[7,107,136],"estimation":[8],"methods":[9],"for":[10,95,109,133],"Hybrid":[11],"Unmanned":[12],"Aerial":[13],"Underwater":[14],"Vehicles":[15],"(HUAUVs)":[16],"is":[17],"presented.":[18],"Based":[19],"detailed":[22],"dynamic":[23],"model":[24],"simulation,":[25],"we":[26],"analyse":[27],"and":[28,58,82,106,113],"elect":[29],"the":[30,38,48,53,59,76,83,120,125],"best":[31],"algorithm":[33],"among":[34],"those":[35],"presented":[36],"in":[37,73],"state-of-the-art":[39],"literature":[40],"addressing":[41],"local":[42],"derivative-free":[43],"Kalman":[45,50,55,62],"Filters":[46],"(KFs):":[47],"Unscented":[49,61],"Filter":[51,56,63],"(UKF),":[52],"Cubature":[54],"(CKF)":[57],"Transformed":[60],"(TUKF).":[64],"Here,":[65],"these":[66],"three":[67],"probabilistic":[69],"estimators":[70],"were":[71],"compared":[72],"terms":[74],"of":[75],"Root":[77],"Mean":[78],"Square":[79],"Error":[80],"(RMSE)":[81],"average":[84],"execution":[85],"time":[86],"over":[87],"Monte":[88],"Carlo":[89],"simulations.":[90],"We":[91,116],"simulated":[92],"real-world":[93],"conditions":[94],"our":[96],"in-production":[97],"HUAUV":[98],"prototype":[99],"using":[100],"Inertial":[101],"Measurement":[102],"Unit":[103],"(IMU)":[104],"data":[105,111],"augmentation":[108],"sensor":[110],"filtering":[112],"trajectory":[114],"estimation.":[115],"have":[117],"concluded":[118],"that":[119],"CKF":[121],"proved":[122],"to":[123,129],"be":[124],"most":[126],"interesting":[127],"KF":[128],"low-cost":[130],"on-board":[131],"applications":[132],"high":[134],"dimensional":[135],"spaces.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}