{"id":"https://openalex.org/W2910773059","doi":"https://doi.org/10.1109/iros.2018.8594439","title":"Adaptive Sensor Bias Estimation in Nine Degree of Freedom Inertial Measurement Units: Theory and Preliminary Evaluation","display_name":"Adaptive Sensor Bias Estimation in Nine Degree of Freedom Inertial Measurement Units: Theory and Preliminary Evaluation","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2910773059","doi":"https://doi.org/10.1109/iros.2018.8594439","mag":"2910773059"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594439","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594439","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/A5032495286","display_name":"Andrew R. Spielvogel","orcid":"https://orcid.org/0000-0001-6214-9992"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Andrew R. Spielvogel","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022475465","display_name":"Louis L. Whitcomb","orcid":"https://orcid.org/0000-0003-2398-1000"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Louis L. Whitcomb","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5032495286"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":1.3307,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.85509565,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"5555","last_page":"5561"},"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/T11405","display_name":"Geophysics and Gravity Measurements","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13885","display_name":"Geophysics and Sensor Technology","score":0.9947999715805054,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.7606582641601562},{"id":"https://openalex.org/keywords/attitude-and-heading-reference-system","display_name":"Attitude and heading reference system","score":0.757099986076355},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6128600835800171},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5550546646118164},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.5326629877090454},{"id":"https://openalex.org/keywords/magnetometer","display_name":"Magnetometer","score":0.5303685665130615},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5279378294944763},{"id":"https://openalex.org/keywords/rate-gyro","display_name":"Rate gyro","score":0.511900782585144},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.44728487730026245},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33166003227233887},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.26819491386413574},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24329587817192078},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23305100202560425},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09883987903594971}],"concepts":[{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.7606582641601562},{"id":"https://openalex.org/C204114589","wikidata":"https://www.wikidata.org/wiki/Q4248887","display_name":"Attitude and heading reference system","level":3,"score":0.757099986076355},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6128600835800171},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5550546646118164},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.5326629877090454},{"id":"https://openalex.org/C153946474","wikidata":"https://www.wikidata.org/wiki/Q333921","display_name":"Magnetometer","level":3,"score":0.5303685665130615},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5279378294944763},{"id":"https://openalex.org/C15476841","wikidata":"https://www.wikidata.org/wiki/Q7295535","display_name":"Rate gyro","level":3,"score":0.511900782585144},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.44728487730026245},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33166003227233887},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.26819491386413574},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24329587817192078},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23305100202560425},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09883987903594971},{"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/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":1,"locations":[{"id":"doi:10.1109/iros.2018.8594439","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594439","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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W130083205","https://openalex.org/W1971572145","https://openalex.org/W1983879820","https://openalex.org/W2010687720","https://openalex.org/W2048709072","https://openalex.org/W2050099430","https://openalex.org/W2116394929","https://openalex.org/W2125691646","https://openalex.org/W2132240870","https://openalex.org/W2138121908","https://openalex.org/W2140257642","https://openalex.org/W2146922149","https://openalex.org/W2161962330","https://openalex.org/W2171318129","https://openalex.org/W2185175893","https://openalex.org/W2290171771","https://openalex.org/W2295009469","https://openalex.org/W2345224179","https://openalex.org/W2466246315","https://openalex.org/W2469842093","https://openalex.org/W2772026698","https://openalex.org/W3140595693","https://openalex.org/W3151446202","https://openalex.org/W6680401350","https://openalex.org/W6683405241","https://openalex.org/W6686445026"],"related_works":["https://openalex.org/W2383240512","https://openalex.org/W1973973903","https://openalex.org/W4379529125","https://openalex.org/W3195533899","https://openalex.org/W3208523813","https://openalex.org/W4287084017","https://openalex.org/W3179745820","https://openalex.org/W2537790823","https://openalex.org/W2594666386","https://openalex.org/W2545638156"],"abstract_inverted_index":{"Nine":[0],"degrees":[1],"of":[2,10,32,100,111,168,184,202,205],"freedom":[3],"(DOF)":[4],"inertial":[5],"measurement":[6,126,157],"units":[7],"(IMUs)":[8],"comprised":[9],"three-axis":[11,13,16],"magnetometers,":[12],"accelerometers,":[14],"and":[15,25,40,64,116,138,197,212],"angular":[17,51,166],"rate":[18,52],"sensors":[19,53],"are":[20,55,73,218],"commonly":[21],"used":[22],"in":[23,159],"attitude":[24,144,204],"heading":[26,39,47],"reference":[27],"systems":[28,35,41,104],"(AHRSs).":[29],"Two":[30],"classes":[31],"AHRSs":[33,48,69,87],"exist:":[34],"that":[36,42,72,128],"estimate":[37,43,60,79],"true-North":[38],"magnetic-North":[44,68,86,101],"heading.":[45,92,118],"True-North":[46],"require":[49,180,200],"high-end":[50],"which":[54],"sensitive":[56,75],"enough":[57,76],"to":[58,77,108],"dynamically":[59,78],"Earth-rate":[61,80],"(typically":[62],"fiber-optic":[63],"ring-laser":[65],"gyros),":[66],"while":[67],"employ":[70,88],"gyros":[71],"not":[74,179,199],"(i.e.":[81],"all":[82],"MEMS":[83],"gyros).":[84],"Thus,":[85],"magnetometers":[89],"for":[90,142,155],"estimating":[91],"This":[93,146],"paper":[94,147],"will":[95],"focus":[96],"on":[97],"this":[98],"class":[99],"AHRSs.":[102],"These":[103],"fuse":[105],"IMU":[106],"measurements":[107],"generate":[109],"estimates":[110],"the":[112,169,188,193,203,206],"instrument's":[113],"roll,":[114],"pitch,":[115],"magnetic":[117,190],"However,":[119],"their":[120],"accuracy":[121],"is":[122,129,140],"limited":[123],"by":[124],"sensor":[125,135,152,156,174],"bias":[127,136,153,175],"unknown":[130],"a":[131,149,181,213],"priori.":[132],"Hence,":[133],"accurate":[134],"estimation":[137],"compensation":[139],"essential":[141],"true":[143],"estimation.":[145],"reports":[148],"novel":[150],"adaptive":[151],"observer":[154],"biases":[158],"9-DOF":[160],"IMUs.":[161],"The":[162],"algorithm":[163],"requires":[164],"smaller":[165],"movements":[167],"instrument":[170],"than":[171],"other":[172],"reported":[173],"calibration":[176],"methods,":[177],"does":[178,198],"priori":[182],"knowledge":[183,201],"local":[185,189,194],"fields":[186],"like":[187],"field":[191],"or":[192],"gravity":[195],"vector,":[196],"instrument.":[207],"Stability":[208],"proofs,":[209],"preliminary":[210],"simulations,":[211],"full-scale":[214],"vehicle":[215],"experimental":[216],"evaluation":[217],"reported.":[219]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}