{"id":"https://openalex.org/W2148048835","doi":"https://doi.org/10.1109/is.2010.5548334","title":"Inertial Navigation aided by Simultaneous Localization and Mapping","display_name":"Inertial Navigation aided by Simultaneous Localization and Mapping","publication_year":2010,"publication_date":"2010-07-01","ids":{"openalex":"https://openalex.org/W2148048835","doi":"https://doi.org/10.1109/is.2010.5548334","mag":"2148048835"},"language":"en","primary_location":{"id":"doi:10.1109/is.2010.5548334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/is.2010.5548334","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 5th IEEE International Conference Intelligent Systems","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/A5065584773","display_name":"Vasko Sazdovski","orcid":"https://orcid.org/0009-0002-2219-0987"},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]},{"id":"https://openalex.org/I933054736","display_name":"Defence Academy of the United Kingdom","ror":"https://ror.org/03myaza48","country_code":"GB","type":"education","lineage":["https://openalex.org/I1306956679","https://openalex.org/I2802373619","https://openalex.org/I933054736"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Vasko Sazdovski","raw_affiliation_strings":["Autonomous Systems Group, Department of Informatics and Sensors, Cranfield University, Defence Academy of the United Kingdom, Swindon, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Group, Department of Informatics and Sensors, Cranfield University, Defence Academy of the United Kingdom, Swindon, UK","institution_ids":["https://openalex.org/I82284825","https://openalex.org/I933054736"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011515235","display_name":"Peter Silson","orcid":null},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]},{"id":"https://openalex.org/I933054736","display_name":"Defence Academy of the United Kingdom","ror":"https://ror.org/03myaza48","country_code":"GB","type":"education","lineage":["https://openalex.org/I1306956679","https://openalex.org/I2802373619","https://openalex.org/I933054736"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Peter M G Silson","raw_affiliation_strings":["Autonomous Systems Group, Department of Informatics and Sensors, Cranfield University, Defence Academy of the United Kingdom, Swindon, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Group, Department of Informatics and Sensors, Cranfield University, Defence Academy of the United Kingdom, Swindon, UK","institution_ids":["https://openalex.org/I82284825","https://openalex.org/I933054736"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085012064","display_name":"Antonios Tsourdos","orcid":"https://orcid.org/0000-0002-3966-7633"},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]},{"id":"https://openalex.org/I933054736","display_name":"Defence Academy of the United Kingdom","ror":"https://ror.org/03myaza48","country_code":"GB","type":"education","lineage":["https://openalex.org/I1306956679","https://openalex.org/I2802373619","https://openalex.org/I933054736"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Antonios Tsourdos","raw_affiliation_strings":["Autonomous Systems Group, Department of Informatics and Sensors, Cranfield University, Defence Academy of the United Kingdom, Swindon, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Group, Department of Informatics and Sensors, Cranfield University, Defence Academy of the United Kingdom, Swindon, UK","institution_ids":["https://openalex.org/I82284825","https://openalex.org/I933054736"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"43","last_page":"48"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","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/T10191","display_name":"Robotics and Sensor-Based Localization","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/T11325","display_name":"Inertial Sensor and Navigation","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.8133563995361328},{"id":"https://openalex.org/keywords/wind-triangle","display_name":"Wind triangle","score":0.7123351693153381},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6837538480758667},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6652105450630188},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6620080471038818},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.6479517817497253},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6418769359588623},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6206101179122925},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5895698070526123},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5540583729743958},{"id":"https://openalex.org/keywords/air-navigation","display_name":"Air navigation","score":0.5472757816314697},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5330044031143188},{"id":"https://openalex.org/keywords/divergence","display_name":"Divergence (linguistics)","score":0.5035809874534607},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.43202292919158936},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4279518127441406},{"id":"https://openalex.org/keywords/state-vector","display_name":"State vector","score":0.41124042868614197},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1375945806503296},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13515067100524902},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12194529175758362},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.060910552740097046},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06081709265708923}],"concepts":[{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.8133563995361328},{"id":"https://openalex.org/C178001088","wikidata":"https://www.wikidata.org/wiki/Q2583453","display_name":"Wind triangle","level":5,"score":0.7123351693153381},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6837538480758667},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6652105450630188},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6620080471038818},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.6479517817497253},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6418769359588623},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6206101179122925},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5895698070526123},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5540583729743958},{"id":"https://openalex.org/C504623915","wikidata":"https://www.wikidata.org/wiki/Q1427822","display_name":"Air navigation","level":3,"score":0.5472757816314697},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5330044031143188},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.5035809874534607},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.43202292919158936},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4279518127441406},{"id":"https://openalex.org/C2777798563","wikidata":"https://www.wikidata.org/wiki/Q7603916","display_name":"State vector","level":2,"score":0.41124042868614197},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1375945806503296},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13515067100524902},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12194529175758362},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.060910552740097046},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06081709265708923},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/is.2010.5548334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/is.2010.5548334","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 5th IEEE International Conference Intelligent Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4000000059604645}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W85645648","https://openalex.org/W267289391","https://openalex.org/W1486476160","https://openalex.org/W2050165893","https://openalex.org/W2110453924","https://openalex.org/W2143864104","https://openalex.org/W2148228392","https://openalex.org/W6629093985"],"related_works":["https://openalex.org/W2353915953","https://openalex.org/W646914497","https://openalex.org/W2353128189","https://openalex.org/W1120307368","https://openalex.org/W2109452062","https://openalex.org/W2574511778","https://openalex.org/W2052589379","https://openalex.org/W2119716907","https://openalex.org/W2107822195","https://openalex.org/W238370312"],"abstract_inverted_index":{"Inertial":[0,25,32,81],"and":[1,11,17,37,53,58,85],"vision":[2],"sensors":[3],"are":[4,76],"must":[5],"nowadays":[6],"in":[7],"terms":[8],"of":[9,30,63,89],"navigation":[10,102],"guidance":[12],"measurements":[13,62],"for":[14,23,78],"autonomous":[15,101],"aerial":[16],"ground":[18],"vehicles.":[19],"To":[20],"make":[21],"up":[22],"the":[24,28,46,50,73,80,87,90],"Navigation":[26,33,82],"divergence":[27,84],"concept":[29],"aiding":[31],"by":[34,72],"Simultaneous":[35,51],"Localization":[36,52],"Mapping":[38,54],"is":[39],"introduced.":[40],"In":[41],"this":[42],"paper":[43],"we":[44],"describe":[45],"needing":[47],"changes":[48],"to":[49],"augmented":[55],"state":[56],"vector":[57],"show":[59],"that":[60],"repeated":[61],"a":[64,96],"map":[65,74,91],"point":[66,75],"with":[67],"certain":[68],"maneuvers":[69],"around":[70],"or":[71],"crucial":[77],"constraining":[79],"position":[83],"reducing":[86],"covariance":[88],"points.":[92],"This":[93],"integration":[94],"makes":[95],"passive":[97],"jamproof":[98],"GPS":[99],"free":[100],"system.":[103]},"counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
