{"id":"https://openalex.org/W4385359670","doi":"https://doi.org/10.1109/iv55152.2023.10186760","title":"Auto-tuning extended Kalman filters to improve state estimation","display_name":"Auto-tuning extended Kalman filters to improve state estimation","publication_year":2023,"publication_date":"2023-06-04","ids":{"openalex":"https://openalex.org/W4385359670","doi":"https://doi.org/10.1109/iv55152.2023.10186760"},"language":"en","primary_location":{"id":"doi:10.1109/iv55152.2023.10186760","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55152.2023.10186760","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Intelligent Vehicles Symposium (IV)","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/A5003581436","display_name":"Boula\u00efd Boulkroune","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Boulaid Boulkroune","raw_affiliation_strings":["Flanders Make vzw,Lommel,Belgium,3920"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Flanders Make vzw,Lommel,Belgium,3920","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039428744","display_name":"Kurt Geebelen","orcid":"https://orcid.org/0000-0001-9184-0491"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Kurt Geebelen","raw_affiliation_strings":["Flanders Make vzw,Lommel,Belgium,3920"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Flanders Make vzw,Lommel,Belgium,3920","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025771795","display_name":"Jia Wan","orcid":"https://orcid.org/0000-0001-5531-9068"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Jia Wan","raw_affiliation_strings":["Flanders Make vzw,Lommel,Belgium,3920"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Flanders Make vzw,Lommel,Belgium,3920","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044221147","display_name":"Ellen van Nunen","orcid":"https://orcid.org/0000-0003-0813-1489"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Ellen van Nunen","raw_affiliation_strings":["Flanders Make vzw,Lommel,Belgium,3920"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Flanders Make vzw,Lommel,Belgium,3920","institution_ids":["https://openalex.org/I4210116480"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210116480"],"apc_list":null,"apc_paid":null,"fwci":3.786,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.94459131,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9997000098228455,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9991999864578247,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9975000023841858,"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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7890636920928955},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7789002060890198},{"id":"https://openalex.org/keywords/divergence","display_name":"Divergence (linguistics)","score":0.7209357619285583},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6269210577011108},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.6191144585609436},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.6068759560585022},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.5998823642730713},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.561532735824585},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5236822366714478},{"id":"https://openalex.org/keywords/covariance-intersection","display_name":"Covariance intersection","score":0.5093880295753479},{"id":"https://openalex.org/keywords/fast-kalman-filter","display_name":"Fast Kalman filter","score":0.47258126735687256},{"id":"https://openalex.org/keywords/ensemble-kalman-filter","display_name":"Ensemble Kalman filter","score":0.45365655422210693},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.41984468698501587},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.37371066212654114},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.299479603767395},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1978001594543457},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08393937349319458},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.06358370184898376}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7890636920928955},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7789002060890198},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.7209357619285583},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6269210577011108},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.6191144585609436},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.6068759560585022},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.5998823642730713},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.561532735824585},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5236822366714478},{"id":"https://openalex.org/C83042196","wikidata":"https://www.wikidata.org/wiki/Q5178898","display_name":"Covariance intersection","level":4,"score":0.5093880295753479},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.47258126735687256},{"id":"https://openalex.org/C79334102","wikidata":"https://www.wikidata.org/wiki/Q3072268","display_name":"Ensemble Kalman filter","level":4,"score":0.45365655422210693},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.41984468698501587},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37371066212654114},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.299479603767395},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1978001594543457},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08393937349319458},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.06358370184898376},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55152.2023.10186760","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55152.2023.10186760","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1531532259","https://openalex.org/W1977318629","https://openalex.org/W1993595542","https://openalex.org/W2001992171","https://openalex.org/W2049127363","https://openalex.org/W2102261079","https://openalex.org/W2166930249","https://openalex.org/W2167273848","https://openalex.org/W2187386544","https://openalex.org/W2334556985","https://openalex.org/W2612922558","https://openalex.org/W2962771180","https://openalex.org/W3184591755","https://openalex.org/W3194412638","https://openalex.org/W4239782249","https://openalex.org/W4280538742","https://openalex.org/W4289878218","https://openalex.org/W4318148170","https://openalex.org/W6644782297","https://openalex.org/W6684459177","https://openalex.org/W6686495381"],"related_works":["https://openalex.org/W2053335193","https://openalex.org/W2772311278","https://openalex.org/W2150837402","https://openalex.org/W2966342863","https://openalex.org/W2359845109","https://openalex.org/W4206024512","https://openalex.org/W1035502194","https://openalex.org/W2188632562","https://openalex.org/W4385439673","https://openalex.org/W2890211018"],"abstract_inverted_index":{"In":[0],"this":[1],"a":[2],"paper,":[3],"an":[4,18],"auto-tuning":[5],"Extend":[6],"Kalman":[7],"filter":[8,50,63,67],"(EKF)":[9],"approach":[10,56,81],"is":[11,15,37,73,83],"developed.":[12],"The":[13,54,80],"objective":[14],"to":[16,20,49],"design":[17],"algorithm":[19],"find":[21],"the":[22,26,62,66,77],"optimal":[23],"values":[24,46],"of":[25,34,44],"covariance":[27],"matrices":[28],"Q":[29],"and":[30,39,52,85],"R.":[31],"Manual":[32],"tuning":[33],"those":[35],"parameters":[36],"hard":[38],"time-consuming.":[40],"Besides,":[41],"wrong":[42],"combinations":[43],"their":[45],"can":[47],"lead":[48],"divergence":[51],"inconsistency.":[53],"proposed":[55],"combines":[57],"several":[58],"metrics":[59],"derived":[60],"from":[61],"requirements":[64],"especially":[65],"consistency.":[68],"A":[69],"weighted":[70],"cost":[71],"function":[72],"established":[74],"based":[75],"on":[76,87],"defined":[78],"metrics.":[79],"effectiveness":[82],"tested":[84],"verified":[86],"sensor":[88],"fusion":[89],"problems":[90],"for":[91],"drone":[92],"indoor":[93],"localization":[94],"where":[95],"good":[96],"results":[97],"are":[98],"achieved":[99],"using":[100],"five":[101],"(5)":[102],"different":[103],"numerical":[104],"optimization":[105],"solvers.":[106]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}