{"id":"https://openalex.org/W4288391441","doi":"https://doi.org/10.1109/jiot.2022.3194544","title":"Tightly Coupled Integration of GNSS, INS, and LiDAR for Vehicle Navigation in Urban Environments","display_name":"Tightly Coupled Integration of GNSS, INS, and LiDAR for Vehicle Navigation in Urban Environments","publication_year":2022,"publication_date":"2022-07-28","ids":{"openalex":"https://openalex.org/W4288391441","doi":"https://doi.org/10.1109/jiot.2022.3194544"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2022.3194544","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2022.3194544","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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/A5053326378","display_name":"Shengyu Li","orcid":"https://orcid.org/0000-0003-4014-2524"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shengyu Li","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100723328","display_name":"Shiwen Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiwen Wang","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018496820","display_name":"Yuxuan Zhou","orcid":"https://orcid.org/0000-0002-5261-0009"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxuan Zhou","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042894854","display_name":"Zhiheng Shen","orcid":"https://orcid.org/0000-0001-5319-4839"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiheng Shen","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100661809","display_name":"Xingxing Li","orcid":"https://orcid.org/0000-0002-0283-4151"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingxing Li","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5053326378"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":50.9773,"has_fulltext":false,"cited_by_count":82,"citation_normalized_percentile":{"value":0.99844987,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"9","issue":"24","first_page":"24721","last_page":"24735"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9984999895095825,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9983000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.9208781719207764},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.74634850025177},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7222720384597778},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.6166423559188843},{"id":"https://openalex.org/keywords/satellite-system","display_name":"Satellite system","score":0.5085233449935913},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4893631339073181},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.4290018081665039},{"id":"https://openalex.org/keywords/gnss-augmentation","display_name":"GNSS augmentation","score":0.42875000834465027},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4277118444442749},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.4192643165588379},{"id":"https://openalex.org/keywords/precise-point-positioning","display_name":"Precise Point Positioning","score":0.4157235026359558},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.3804774880409241},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.25992175936698914},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1487952172756195},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13123616576194763}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.9208781719207764},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.74634850025177},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7222720384597778},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.6166423559188843},{"id":"https://openalex.org/C2778027091","wikidata":"https://www.wikidata.org/wiki/Q25346003","display_name":"Satellite system","level":4,"score":0.5085233449935913},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4893631339073181},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.4290018081665039},{"id":"https://openalex.org/C166212672","wikidata":"https://www.wikidata.org/wiki/Q2165162","display_name":"GNSS augmentation","level":4,"score":0.42875000834465027},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4277118444442749},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.4192643165588379},{"id":"https://openalex.org/C202511199","wikidata":"https://www.wikidata.org/wiki/Q7239503","display_name":"Precise Point Positioning","level":4,"score":0.4157235026359558},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.3804774880409241},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.25992175936698914},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1487952172756195},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13123616576194763},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/jiot.2022.3194544","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2022.3194544","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7799999713897705,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G7401681192","display_name":null,"funder_award_id":"2021YFB2501102","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W2015996585","https://openalex.org/W2028372850","https://openalex.org/W2049981393","https://openalex.org/W2084389047","https://openalex.org/W2094280389","https://openalex.org/W2104998606","https://openalex.org/W2118223742","https://openalex.org/W2130763585","https://openalex.org/W2133820918","https://openalex.org/W2134691634","https://openalex.org/W2294233959","https://openalex.org/W2296228853","https://openalex.org/W2363380726","https://openalex.org/W2411093439","https://openalex.org/W2566692295","https://openalex.org/W2742069755","https://openalex.org/W2762845973","https://openalex.org/W2765551870","https://openalex.org/W2791639158","https://openalex.org/W2886196112","https://openalex.org/W2899408035","https://openalex.org/W2904543104","https://openalex.org/W2906226899","https://openalex.org/W2908603664","https://openalex.org/W2949474241","https://openalex.org/W2962987986","https://openalex.org/W2963566952","https://openalex.org/W2977191322","https://openalex.org/W2979346274","https://openalex.org/W3004334518","https://openalex.org/W3015570924","https://openalex.org/W3048417451","https://openalex.org/W3087672182","https://openalex.org/W3091245962","https://openalex.org/W3098143411","https://openalex.org/W3098410961","https://openalex.org/W3126830741","https://openalex.org/W3129245057","https://openalex.org/W3130081760","https://openalex.org/W3132323429","https://openalex.org/W3133767727","https://openalex.org/W3164606261","https://openalex.org/W3204973120","https://openalex.org/W3217635941","https://openalex.org/W4213300369","https://openalex.org/W6750086552","https://openalex.org/W6783774005"],"related_works":["https://openalex.org/W3175435015","https://openalex.org/W2383573797","https://openalex.org/W3174780772","https://openalex.org/W4306940720","https://openalex.org/W2150109772","https://openalex.org/W2514957304","https://openalex.org/W2391372675","https://openalex.org/W2933126904","https://openalex.org/W2955781955","https://openalex.org/W2116130925"],"abstract_inverted_index":{"The":[0,160],"emerging":[1],"Internet":[2],"of":[3,118,122,162,196,223],"Things":[4],"(IoT)":[5],"applications,":[6],"such":[7],"as":[8,29,97],"driverless":[9],"cars,":[10],"have":[11],"a":[12,63,131],"growing":[13],"demand":[14],"for":[15,33,111],"high-precision":[16,59],"positioning":[17,35,137,189],"and":[18,51,90,157,199,217,225],"navigation.":[19],"Nowadays,":[20],"the":[21,77,109,119,163,207],"global":[22],"navigation":[23,54,60,155],"satellite":[24],"system":[25,55,80,140,166],"(GNSS)":[26],"is":[27,40,93,141,211],"recognized":[28],"an":[30,98,146],"important":[31],"approach":[32],"worldwide":[34],"services.":[36],"However,":[37],"its":[38,67],"application":[39],"limited":[41],"in":[42,100,108,128,169,191,221],"urban":[43,129],"areas":[44],"due":[45],"to":[46,126,152,202,213],"severe":[47],"signal":[48],"attenuation,":[49],"reflections,":[50],"blockages.":[52],"Inertial":[53],"(INS)":[56],"can":[57,103,184],"provide":[58],"outputs":[61],"within":[62],"short":[64],"period,":[65],"but":[66],"accuracy":[68,156,190,224],"suffers":[69],"from":[70],"error":[71],"accumulation,":[72],"especially":[73],"when":[74],"equipped":[75],"with":[76,172,194],"low-cost":[78],"microelectromechanical":[79],"(MEMS)":[81],"inertial":[82],"measurement":[83],"units":[84],"(IMUs).":[85],"In":[86],"addition,":[87],"light":[88],"detection":[89],"ranging":[91],"(LiDAR)":[92],"becoming":[94],"more":[95],"common":[96],"option":[99],"vehicles,":[101],"which":[102],"detect":[104],"rich":[105],"geometric":[106],"information":[107],"environment":[110],"ego-motion":[112],"estimation.":[113],"Aiming":[114],"at":[115],"taking":[116],"advantage":[117],"complementary":[120],"characteristics":[121],"these":[123],"onboard":[124],"technologies":[125],"navigate":[127],"environments,":[130,193],"tightly":[132],"coupled":[133],"multi-GNSS":[134],"precise":[135],"point":[136],"(PPP)/INS/LiDAR":[138],"integrated":[139,165],"proposed.":[142],"We":[143],"also":[144],"develop":[145],"LiDAR":[147],"sliding-window":[148],"plane-feature":[149,208],"tracking":[150,209],"method":[151,210],"further":[153],"improve":[154],"computational":[158],"efficiency.":[159,226],"performance":[161],"proposed":[164,181],"was":[167],"evaluated":[168],"vehicular":[170],"experiments":[171],"different":[173],"GNSS":[174],"observation":[175],"conditions.":[176],"Results":[177],"indicate":[178],"that":[179],"our":[180],"GNSS/INS/LiDAR":[182],"integration":[183],"maintain":[185],"submeter":[186],"level":[187],"horizontal":[188],"GNSS-challenging":[192],"improvements":[195],"(73.3%,":[197],"59.7%,":[198],"64.2%)":[200],"compared":[201],"traditional":[203,215],"GNSS/INS":[204],"integration.":[205],"Moreover,":[206],"proved":[212],"outperform":[214],"point-to-line":[216],"point-to-plane":[218],"scan":[219],"matching":[220],"terms":[222]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":37},{"year":2024,"cited_by_count":28},{"year":2023,"cited_by_count":15}],"updated_date":"2026-04-15T08:11:43.952461","created_date":"2025-10-10T00:00:00"}