{"id":"https://openalex.org/W4415124055","doi":"https://doi.org/10.1109/jiot.2025.3620944","title":"HAR-GVIO: A Hierarchically Adaptive Robust GNSS/Visual/IMU Navigation System for Vehicular Positioning With ZUPT Aiding","display_name":"HAR-GVIO: A Hierarchically Adaptive Robust GNSS/Visual/IMU Navigation System for Vehicular Positioning With ZUPT Aiding","publication_year":2025,"publication_date":"2025-10-13","ids":{"openalex":"https://openalex.org/W4415124055","doi":"https://doi.org/10.1109/jiot.2025.3620944"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2025.3620944","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3620944","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/A5034942455","display_name":"Jun Xiong","orcid":"https://orcid.org/0000-0001-5472-2250"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jun Xiong","raw_affiliation_strings":["School of Internet-of-Things, Nanjing University of Posts and Telecommunications, Nanjing, China","School of Internet-of-Things, Nanjing University of Posts and Telecommunications, Nanjing, P.R.China"],"affiliations":[{"raw_affiliation_string":"School of Internet-of-Things, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]},{"raw_affiliation_string":"School of Internet-of-Things, Nanjing University of Posts and Telecommunications, Nanjing, P.R.China","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101620553","display_name":"Feng Zhou","orcid":"https://orcid.org/0000-0001-9997-8073"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Zhou","raw_affiliation_strings":["School of Internet-of-Things, Nanjing University of Posts and Telecommunications, Nanjing, China","School of Internet-of-Things, Nanjing University of Posts and Telecommunications, Nanjing, P.R.China"],"affiliations":[{"raw_affiliation_string":"School of Internet-of-Things, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]},{"raw_affiliation_string":"School of Internet-of-Things, Nanjing University of Posts and Telecommunications, Nanjing, P.R.China","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Bo Yang","orcid":"https://orcid.org/0009-0002-3080-6438"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Yang","raw_affiliation_strings":["School of Internet-of-Things, Nanjing University of Posts and Telecommunications, Nanjing, China","School of Internet-of-Things, Nanjing University of Posts and Telecommunications, Nanjing, P.R.China"],"affiliations":[{"raw_affiliation_string":"School of Internet-of-Things, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]},{"raw_affiliation_string":"School of Internet-of-Things, Nanjing University of Posts and Telecommunications, Nanjing, P.R.China","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073229663","display_name":"Wenbo Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenbo Zhang","raw_affiliation_strings":["School of Internet-of-Things, Nanjing University of Posts and Telecommunications, Nanjing, China","School of Internet-of-Things, Nanjing University of Posts and Telecommunications, Nanjing, P.R.China"],"affiliations":[{"raw_affiliation_string":"School of Internet-of-Things, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]},{"raw_affiliation_string":"School of Internet-of-Things, Nanjing University of Posts and Telecommunications, Nanjing, P.R.China","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088698302","display_name":"Zhi Xiong","orcid":"https://orcid.org/0000-0003-4619-4384"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi Xiong","raw_affiliation_strings":["College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, P.R.China"],"affiliations":[{"raw_affiliation_string":"College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, P.R.China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5034942455"],"corresponding_institution_ids":["https://openalex.org/I41198531"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35794873,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":"24","first_page":"54759","last_page":"54772"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9707000255584717,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9707000255584717,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9625999927520752,"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":0.9577999711036682,"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/robustness","display_name":"Robustness (evolution)","score":0.8363999724388123},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7196999788284302},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5400000214576721},{"id":"https://openalex.org/keywords/adaptive-system","display_name":"Adaptive system","score":0.46399998664855957},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.42010000348091125},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.3982999920845032},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.38260000944137573},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.3652999997138977},{"id":"https://openalex.org/keywords/adaptive-filter","display_name":"Adaptive filter","score":0.3578000068664551}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8363999724388123},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8282999992370605},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7196999788284302},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5400000214576721},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4781000018119812},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.46399998664855957},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.42010000348091125},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.3982999920845032},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.38260000944137573},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36809998750686646},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.3652999997138977},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.3578000068664551},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.3522000014781952},{"id":"https://openalex.org/C2778603505","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Positioning system","level":3,"score":0.3296000063419342},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3273000121116638},{"id":"https://openalex.org/C176563091","wikidata":"https://www.wikidata.org/wiki/Q669238","display_name":"Intelligent sensor","level":3,"score":0.31949999928474426},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.31209999322891235},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2971999943256378},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2849999964237213},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.28290000557899475},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.275299996137619},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.27309998869895935},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.2624000012874603},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.25769999623298645},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2567000091075897},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.25519999861717224},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25459998846054077},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.25380000472068787},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2025.3620944","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3620944","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":[],"awards":[{"id":"https://openalex.org/G1367117737","display_name":null,"funder_award_id":"62203228","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G522769462","display_name":null,"funder_award_id":"2023M742216","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G7319532869","display_name":null,"funder_award_id":"61873125","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7577436191","display_name":null,"funder_award_id":"2022Z0220X9001","funder_id":"https://openalex.org/F4320322857","funder_display_name":"Aeronautical Science Foundation of China"},{"id":"https://openalex.org/G8760105509","display_name":null,"funder_award_id":"2025T180485","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320322857","display_name":"Aeronautical Science Foundation of China","ror":"https://ror.org/02wq41p38"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1655176608","https://openalex.org/W1967023569","https://openalex.org/W1968917201","https://openalex.org/W2012526720","https://openalex.org/W2056358962","https://openalex.org/W2056427752","https://openalex.org/W2095877926","https://openalex.org/W2118223742","https://openalex.org/W2124647600","https://openalex.org/W2412400097","https://openalex.org/W2615547864","https://openalex.org/W2808571300","https://openalex.org/W2938170127","https://openalex.org/W2950989657","https://openalex.org/W2955863859","https://openalex.org/W3035035451","https://openalex.org/W3091667825","https://openalex.org/W3129031726","https://openalex.org/W3130736756","https://openalex.org/W3163467325","https://openalex.org/W3170620799","https://openalex.org/W3196651191","https://openalex.org/W3205449134","https://openalex.org/W3216141008","https://openalex.org/W4283327156","https://openalex.org/W4299647187","https://openalex.org/W4312322203","https://openalex.org/W4313449032","https://openalex.org/W4319341461","https://openalex.org/W4387696970","https://openalex.org/W4402302699","https://openalex.org/W4410100142"],"related_works":[],"abstract_inverted_index":{"GNSS/Visual/Inertial":[0],"Odometry":[1],"(GVIO)":[2],"has":[3],"been":[4],"widely":[5],"applied":[6],"in":[7,23,159],"positioning":[8],"systems":[9],"for":[10],"Internet":[11],"of":[12,40,139],"Things":[13],"(IoT)":[14],"applications.":[15],"However,":[16],"achieving":[17],"robust":[18,42,121,128],"and":[19,37,157],"precise":[20],"multi-sensor":[21],"fusion":[22,90],"complex,":[24],"dynamic":[25],"environments":[26,160],"remains":[27],"a":[28,55,72,87],"significant":[29],"challenge,":[30],"often":[31],"hampered":[32],"by":[33],"unreliable":[34],"zero-velocity":[35],"detection":[36],"the":[38,127],"inability":[39],"static":[41],"filters":[43],"to":[44,132],"handle":[45],"time-varying":[46],"noise.":[47],"To":[48],"address":[49],"these":[50],"limitations,":[51],"this":[52,146],"paper":[53],"proposes":[54],"Hierarchically":[56],"Adaptive":[57],"Robust":[58],"GVIO":[59],"(HAR-GVIO)":[60],"framework.":[61],"Our":[62],"approach":[63],"introduces":[64],"two":[65],"synergistically":[66],"co-designed":[67],"components.":[68],"First,":[69],"we":[70,116],"propose":[71,117],"novel":[73],"adaptive":[74,89,119],"Zero":[75],"Velocity":[76],"Update":[77],"(ZUPT)":[78],"mechanism":[79,91],"that":[80,92,124,145],"moves":[81],"beyond":[82],"simple":[83],"thresholding.":[84],"It":[85],"features":[86],"high-level":[88],"dynamically":[93],"arbitrates":[94],"between":[95],"three":[96],"heterogeneous":[97],"detectors":[98],"based":[99],"on":[100],"their":[101],"real-time":[102,137],"inter-consistency,":[103],"ensuring":[104],"reliable":[105],"ZUPT":[106],"decisions":[107],"even":[108],"when":[109],"individual":[110],"sensor":[111,140,163],"cues":[112],"are":[113],"ambiguous.":[114],"Second,":[115],"an":[118],"generalized":[120],"filtering":[122],"architecture":[123],"autonomously":[125],"tunes":[126],"kernel\u2019s":[129],"shape":[130],"according":[131],"residual":[133],"distribution":[134],"characteristics,":[135],"enabling":[136],"suppression":[138],"outliers.":[141],"Experimental":[142],"results":[143],"demonstrate":[144],"synergistic":[147],"framework":[148],"significantly":[149],"outperforms":[150],"traditional":[151],"methods,":[152],"offering":[153],"superior":[154],"estimation":[155],"accuracy":[156],"robustness":[158],"with":[161],"degraded":[162],"performance.":[164]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-14T00:00:00"}
