{"id":"https://openalex.org/W4389667512","doi":"https://doi.org/10.1109/iros55552.2023.10342358","title":"Error-State Kalman Filter Based External Wrench Estimation for MAVs Under a Cascaded Architecture","display_name":"Error-State Kalman Filter Based External Wrench Estimation for MAVs Under a Cascaded Architecture","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667512","doi":"https://doi.org/10.1109/iros55552.2023.10342358"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342358","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342358","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100944652","display_name":"Yuhan Yin","orcid":null},"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":"Yuhan Yin","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100650551","display_name":"Qingkai Yang","orcid":"https://orcid.org/0000-0001-9247-7786"},"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":"Qingkai Yang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":null,"display_name":"Hao Fang","orcid":null},"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":"Hao Fang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":2.7626,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.91484843,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5019","last_page":"5026"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9994999766349792,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.9983000159263611,"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/wrench","display_name":"Wrench","score":0.8451148271560669},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7651960849761963},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.7448316216468811},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6932632923126221},{"id":"https://openalex.org/keywords/multirotor","display_name":"Multirotor","score":0.549471378326416},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.49864697456359863},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.47686395049095154},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.46102508902549744},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.430270791053772},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41923853754997253},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40327584743499756},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16018110513687134},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1545887589454651},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08321142196655273},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07621777057647705}],"concepts":[{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.8451148271560669},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7651960849761963},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.7448316216468811},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6932632923126221},{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.549471378326416},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.49864697456359863},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.47686395049095154},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.46102508902549744},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.430270791053772},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41923853754997253},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40327584743499756},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16018110513687134},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1545887589454651},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08321142196655273},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07621777057647705},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342358","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342358","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4399999976158142,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1530121035","https://openalex.org/W2055913619","https://openalex.org/W2056298239","https://openalex.org/W2057607924","https://openalex.org/W2102882044","https://openalex.org/W2124756273","https://openalex.org/W2130545255","https://openalex.org/W2140998418","https://openalex.org/W2467377838","https://openalex.org/W2585814306","https://openalex.org/W2762878490","https://openalex.org/W2912095538","https://openalex.org/W2946139622","https://openalex.org/W2951145419","https://openalex.org/W2964040909","https://openalex.org/W3006845541","https://openalex.org/W3091084109","https://openalex.org/W3198704020","https://openalex.org/W3205136620","https://openalex.org/W3206008794","https://openalex.org/W4285210748","https://openalex.org/W4312535246","https://openalex.org/W6719914667","https://openalex.org/W6745830181"],"related_works":["https://openalex.org/W2728521155","https://openalex.org/W2556504211","https://openalex.org/W2810775292","https://openalex.org/W3150660900","https://openalex.org/W2046459260","https://openalex.org/W2625580943","https://openalex.org/W2914097399","https://openalex.org/W3114548899","https://openalex.org/W3212684323","https://openalex.org/W2765830098"],"abstract_inverted_index":{"In":[0],"many":[1],"applications":[2],"such":[3],"as":[4],"aerial":[5,21],"transportation,":[6],"delivery,":[7],"and":[8,43,64,66,111,121],"manipulation,":[9],"it":[10],"is":[11,59,83,96],"essential":[12],"to":[13,29,61,85],"know":[14],"the":[15,68,71,74,78,87,92,99],"external":[16,31,88,123],"wrench":[17,32,124],"exerted":[18],"on":[19],"multirotor":[20],"vehicles":[22],"precisely.":[23],"This":[24],"paper":[25],"presents":[26],"an":[27,39],"algorithm":[28,105],"estimate":[30,62,86],"using":[33],"a":[34,44,49],"rotor":[35],"speed":[36],"measurement":[37,41,72,76],"unit,":[38,77],"inertial":[40,75],"unit":[42],"motion":[45],"capture":[46],"system.":[47],"Under":[48],"cascaded":[50],"architecture":[51],"containing":[52],"two":[53,93],"sub-systems,":[54],"one":[55],"error-state":[56,80],"Kalman":[57,81],"Filter":[58,82],"designed":[60,84],"velocity":[63],"attitude":[65],"eliminate":[67],"bias":[69],"of":[70,91],"from":[73],"other":[79],"wrench.":[89],"Observability":[90],"estimation":[94],"subsystems":[95],"verified":[97],"by":[98],"Lie":[100],"derivative":[101],"method.":[102],"The":[103],"proposed":[104],"has":[106],"been":[107],"tested":[108],"in":[109,118],"simulations":[110],"real-world":[112],"experiments,":[113],"which":[114],"demonstrates":[115],"its":[116],"superiority":[117],"providing":[119],"real-time":[120],"accurate":[122],"estimation.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}