{"id":"https://openalex.org/W2152652306","doi":"https://doi.org/10.1109/itsc.2008.4732592","title":"Improvement of the Proprioceptive-Sensors based EKF and IMM Localization","display_name":"Improvement of the Proprioceptive-Sensors based EKF and IMM Localization","publication_year":2008,"publication_date":"2008-10-01","ids":{"openalex":"https://openalex.org/W2152652306","doi":"https://doi.org/10.1109/itsc.2008.4732592","mag":"2152652306"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2008.4732592","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2008.4732592","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 11th International IEEE Conference on Intelligent Transportation Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://eprints.qut.edu.au/121840/1/121840.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007267283","display_name":"Alexandre Ndjeng Ndjeng","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Alexandre Ndjeng Ndjeng","raw_affiliation_strings":["INRETS/LCPC Vehicle-Infrastructures-Driver Interactions Research Unit, Versailles, France"],"affiliations":[{"raw_affiliation_string":"INRETS/LCPC Vehicle-Infrastructures-Driver Interactions Research Unit, Versailles, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068430097","display_name":"Dominique Gruyer","orcid":"https://orcid.org/0000-0003-4453-5093"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dominique Gruyer","raw_affiliation_strings":["INRETS/LCPC Vehicle-Infrastructures-Driver Interactions Research Unit, Versailles, France"],"affiliations":[{"raw_affiliation_string":"INRETS/LCPC Vehicle-Infrastructures-Driver Interactions Research Unit, Versailles, France","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006030641","display_name":"S\u00e9bastien Glaser","orcid":"https://orcid.org/0000-0003-0658-7765"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sebastien Glaser","raw_affiliation_strings":["INRETS/LCPC Vehicle-Infrastructures-Driver Interactions Research Unit, Versailles, France"],"affiliations":[{"raw_affiliation_string":"INRETS/LCPC Vehicle-Infrastructures-Driver Interactions Research Unit, Versailles, France","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5007267283"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.572,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.79573447,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"900","last_page":"905"},"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":0.9995999932289124,"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":0.9995999932289124,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9979000091552734,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8610051870346069},{"id":"https://openalex.org/keywords/odometer","display_name":"Odometer","score":0.8412944078445435},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6698099970817566},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5898501873016357},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.5779032111167908},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5677800178527832},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5255179405212402},{"id":"https://openalex.org/keywords/units-of-measurement","display_name":"Units of measurement","score":0.49900341033935547},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.44066035747528076},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3537510335445404},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33837300539016724},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2645724415779114},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1251831352710724},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1096068024635315}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8610051870346069},{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.8412944078445435},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6698099970817566},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5898501873016357},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.5779032111167908},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5677800178527832},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5255179405212402},{"id":"https://openalex.org/C151233233","wikidata":"https://www.wikidata.org/wiki/Q47574","display_name":"Units of measurement","level":2,"score":0.49900341033935547},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.44066035747528076},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3537510335445404},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33837300539016724},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2645724415779114},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1251831352710724},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1096068024635315},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc.2008.4732592","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2008.4732592","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 11th International IEEE Conference on Intelligent Transportation Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.qut.edu.au:121840","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.qut.edu.au/121840/1/121840.pdf","source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 2008 11th International IEEE Conference on Intelligent Transportation Systems","raw_type":"Chapter in Book, Report or Conference volume"}],"best_oa_location":{"id":"pmh:oai:eprints.qut.edu.au:121840","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.qut.edu.au/121840/1/121840.pdf","source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 2008 11th International IEEE Conference on Intelligent Transportation Systems","raw_type":"Chapter in Book, Report or Conference volume"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2152652306.pdf","grobid_xml":"https://content.openalex.org/works/W2152652306.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W1043090749","https://openalex.org/W1559536185","https://openalex.org/W1665207485","https://openalex.org/W1991796533","https://openalex.org/W2079813161","https://openalex.org/W2103632679","https://openalex.org/W2103892029","https://openalex.org/W2108068083","https://openalex.org/W2117397690","https://openalex.org/W2118164523","https://openalex.org/W2126009268","https://openalex.org/W2140242774","https://openalex.org/W2163437409","https://openalex.org/W2169545352","https://openalex.org/W2990811426","https://openalex.org/W6675755948","https://openalex.org/W6676384773"],"related_works":["https://openalex.org/W2038430283","https://openalex.org/W2952426663","https://openalex.org/W2536504876","https://openalex.org/W4309766231","https://openalex.org/W2989564752","https://openalex.org/W4205459552","https://openalex.org/W2125308530","https://openalex.org/W3192877624","https://openalex.org/W2034836143","https://openalex.org/W3001939774"],"abstract_inverted_index":{"This":[0,204],"paper":[1],"presents":[2],"the":[3,51,58,71,82,106,115,125,131,170,193,196,202,210,234,241],"localization":[4],"problem":[5],"of":[6,166,195,220,236],"outdoor":[7],"vehicles":[8],"using":[9],"Interacting":[10],"Multiple":[11],"Model":[12],"(IMM)":[13],"and":[14,35,61,145,164,212,223],"Extended":[15],"Kalman":[16],"Filter":[17],"(EKF),":[18],"in":[19,70,102,124,134,187,240],"their":[20,135],"predictive":[21,171,225],"step":[22],"without":[23],"exteroceptive":[24,31,174],"sensors":[25,32,37,68,116,132],"data.":[26,151],"Usually,":[27],"hybridization":[28],"operates":[29],"between":[30],"(e.g.":[33,38],"GNSS)":[34],"proprioceptive":[36,94],"Odometer,":[39],"Inertial":[40],"Measurement":[41],"Unit":[42],"etc.)":[43],"through":[44],"a":[45,88,98,143,190],"merging":[46,126],"algorithm.":[47,127],"Common":[48],"experiments":[49],"use":[50],"GPS":[52],"receiver":[53],"PPS":[54],"time":[55],"for":[56,112],"stamping":[57],"odometric,":[59],"gyrometric":[60,211],"IMU":[62],"measurements,":[63],"after":[64],"what":[65],"all":[66],"these":[67],"are":[69,118,177],"same":[72],"UTC":[73],"reference":[74],"time.":[75],"Now":[76],"it":[77,158],"is":[78,140,159,181,206],"well":[79],"known":[80],"that":[81,148,180],"low":[83,90,99],"cost":[84],"GNSS":[85,175],"devices":[86],"have":[87],"very":[89],"frequency":[91,111],"compared":[92],"to":[93,97,104,141,154,161,208,217],"sensors,":[95],"combined":[96],"accuracy.":[100],"Therefore":[101],"order":[103,153],"assess":[105],"vehicle":[107],"positioning":[108],"at":[109],"higher":[110],"safety":[113],"applications,":[114],"measurements":[117,215],"generally":[119],"synchronized":[120],"before":[121],"being":[122],"exploited":[123],"In":[128,152],"our":[129],"approach,":[130],"remain":[133],"original":[136],"frequencies.":[137],"The":[138],"objective":[139],"design":[142],"reliable":[144],"robust":[146],"system":[147],"exploits":[149],"asynchronous":[150],"reach":[155],"this":[156,188,238],"goal":[157],"important":[160],"guarantee":[162],"accuracy":[163],"integrity":[165],"filters":[167],"even":[168],"during":[169],"steps,":[172],"when":[173],"data":[176,232],"not":[178],"available:":[179],"proprioceptive-sensors":[182],"based":[183],"positioning.":[184,227],"We":[185],"introduce":[186],"paper,":[189],"study":[191],"on":[192,201],"influence":[194],"road":[197],"bank":[198],"angle":[199],"assessment":[200],"output.":[203],"parameter":[205,239],"used":[207],"correct":[209],"inertial":[213],"unit":[214],"leading":[216],"an":[218],"improvement":[219],"both":[221],"IMM":[222],"EKF":[224],"output":[226],"Tests":[228],"performed":[229],"with":[230],"real":[231],"proved":[233],"suitability":[235],"introducing":[237],"system.":[242]},"counts_by_year":[{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}