{"id":"https://openalex.org/W3046251191","doi":"https://doi.org/10.1109/isie45063.2020.9152403","title":"Cubature Kalman Filtering Fusing Expectationmaximization Method for Attitude Determination Applied to Underwater Glider","display_name":"Cubature Kalman Filtering Fusing Expectationmaximization Method for Attitude Determination Applied to Underwater Glider","publication_year":2020,"publication_date":"2020-06-01","ids":{"openalex":"https://openalex.org/W3046251191","doi":"https://doi.org/10.1109/isie45063.2020.9152403","mag":"3046251191"},"language":"en","primary_location":{"id":"doi:10.1109/isie45063.2020.9152403","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isie45063.2020.9152403","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 29th International Symposium on Industrial Electronics (ISIE)","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/A5085322499","display_name":"Haoqian Huang","orcid":"https://orcid.org/0000-0001-9948-9624"},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haoqian Huang","raw_affiliation_strings":["College of Energy and Electrical Engineering, Hohai University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Energy and Electrical Engineering, Hohai University, Nanjing, China","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059503094","display_name":"Guangsheng Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangsheng Wu","raw_affiliation_strings":["College of Energy and Electrical Engineering, Hohai University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Energy and Electrical Engineering, Hohai University, Nanjing, China","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101860586","display_name":"Jiacheng Tang","orcid":"https://orcid.org/0000-0003-2103-6953"},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiacheng Tang","raw_affiliation_strings":["College of Energy and Electrical Engineering, Hohai University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Energy and Electrical Engineering, Hohai University, Nanjing, China","institution_ids":["https://openalex.org/I163340411"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5085322499"],"corresponding_institution_ids":["https://openalex.org/I163340411"],"apc_list":null,"apc_paid":null,"fwci":0.1765,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.50386713,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"25","issue":null,"first_page":"1093","last_page":"1098"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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":0.9990000128746033,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9986000061035156,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/unobservable","display_name":"Unobservable","score":0.8014864921569824},{"id":"https://openalex.org/keywords/glider","display_name":"Glider","score":0.725064218044281},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6576614379882812},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.615481972694397},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5488916635513306},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5414509773254395},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.5304248929023743},{"id":"https://openalex.org/keywords/interference","display_name":"Interference (communication)","score":0.4959493577480316},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.49540507793426514},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.48327404260635376},{"id":"https://openalex.org/keywords/underwater-glider","display_name":"Underwater glider","score":0.4821576476097107},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4750271439552307},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4414409101009369},{"id":"https://openalex.org/keywords/compass","display_name":"Compass","score":0.422435998916626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41444677114486694},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.31780391931533813},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17058151960372925},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16150712966918945},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07960882782936096}],"concepts":[{"id":"https://openalex.org/C2780695315","wikidata":"https://www.wikidata.org/wiki/Q3799040","display_name":"Unobservable","level":2,"score":0.8014864921569824},{"id":"https://openalex.org/C73525677","wikidata":"https://www.wikidata.org/wiki/Q2396202","display_name":"Glider","level":2,"score":0.725064218044281},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6576614379882812},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.615481972694397},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5488916635513306},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5414509773254395},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.5304248929023743},{"id":"https://openalex.org/C32022120","wikidata":"https://www.wikidata.org/wiki/Q797225","display_name":"Interference (communication)","level":3,"score":0.4959493577480316},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.49540507793426514},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.48327404260635376},{"id":"https://openalex.org/C34824556","wikidata":"https://www.wikidata.org/wiki/Q2634473","display_name":"Underwater glider","level":3,"score":0.4821576476097107},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4750271439552307},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4414409101009369},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.422435998916626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41444677114486694},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.31780391931533813},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17058151960372925},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16150712966918945},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07960882782936096},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","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/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/isie45063.2020.9152403","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isie45063.2020.9152403","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 29th International Symposium on Industrial Electronics (ISIE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1531218787","https://openalex.org/W1542297763","https://openalex.org/W1721310509","https://openalex.org/W1844788565","https://openalex.org/W1964939042","https://openalex.org/W1966184693","https://openalex.org/W1974263742","https://openalex.org/W1998290696","https://openalex.org/W2003967703","https://openalex.org/W2022749616","https://openalex.org/W2033237147","https://openalex.org/W2036882527","https://openalex.org/W2037983380","https://openalex.org/W2049010216","https://openalex.org/W2060575643","https://openalex.org/W2097868028","https://openalex.org/W2100269650","https://openalex.org/W2123487311","https://openalex.org/W2145461394","https://openalex.org/W2151611062","https://openalex.org/W2153195033","https://openalex.org/W2219598583","https://openalex.org/W2314043716","https://openalex.org/W2321699388","https://openalex.org/W2326156823","https://openalex.org/W2333338583","https://openalex.org/W2336491352","https://openalex.org/W2338471795","https://openalex.org/W2373474033","https://openalex.org/W2494349348","https://openalex.org/W2511273988","https://openalex.org/W2560743047","https://openalex.org/W2612848726","https://openalex.org/W2729784903","https://openalex.org/W2737024666","https://openalex.org/W2801334908","https://openalex.org/W2972248574"],"related_works":["https://openalex.org/W4200404818","https://openalex.org/W2064447020","https://openalex.org/W2528493866","https://openalex.org/W4366818296","https://openalex.org/W1925436682","https://openalex.org/W2098154439","https://openalex.org/W4313197375","https://openalex.org/W1999912093","https://openalex.org/W3035533241","https://openalex.org/W2122442494"],"abstract_inverted_index":{"The":[0,32,55],"inertial":[1],"navigation":[2,83],"system":[3],"(INS)":[4],"aided":[5],"with":[6],"the":[7,14,35,45,72,76,92,96,103,112],"magnetic":[8],"compass":[9],"(MCP)":[10],"is":[11,50],"designed":[12],"for":[13,85],"underwater":[15],"glider":[16,94],"to":[17,79],"achieve":[18],"higher":[19,21,52],"accuracy,":[20,106],"stability":[22,107],"and":[23,63,75,108],"faster":[24],"tracking":[25,109],"even":[26,39,110],"if":[27,111],"sudden":[28,113],"change":[29,114],"of":[30,48,71,89,105,115],"attitudes.":[31],"CKF":[33,49,62],"has":[34,98],"better":[36],"estimation":[37],"accuracy":[38,82],"though":[40],"measurements":[41],"become":[42],"unobservable,":[43],"but":[44],"computational":[46,77],"load":[47],"much":[51],"than":[53],"EKF.":[54],"paper":[56],"presents":[57],"a":[58,86,99],"novel":[59],"method":[60],"fusing":[61],"Expectation-maximization":[64],"(EM)":[65],"(CKFEM)":[66],"which":[67],"makes":[68],"fully":[69],"use":[70],"anti-interference":[73],"advantage":[74],"efficiency":[78],"acquire":[80],"high":[81],"information":[84],"long":[87],"period":[88],"gliding.":[90],"In":[91],"real":[93],"experiments,":[95],"CKFEM":[97],"good":[100],"effect":[101],"in":[102],"aspects":[104],"attitude.":[116]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}