{"id":"https://openalex.org/W4415970945","doi":"https://doi.org/10.1109/jiot.2025.3629868","title":"Recursive Extended Finite-Memory Positioning Algorithm for Robust UAV Positioning in GNSS-Denied Environment","display_name":"Recursive Extended Finite-Memory Positioning Algorithm for Robust UAV Positioning in GNSS-Denied Environment","publication_year":2025,"publication_date":"2025-11-06","ids":{"openalex":"https://openalex.org/W4415970945","doi":"https://doi.org/10.1109/jiot.2025.3629868"},"language":null,"primary_location":{"id":"doi:10.1109/jiot.2025.3629868","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3629868","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/A5101664628","display_name":"Sang Su Lee","orcid":"https://orcid.org/0000-0001-9076-3850"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Sang Su Lee","raw_affiliation_strings":["School of Electrical Engineering, Korea University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080318291","display_name":"Jung Min Pak","orcid":"https://orcid.org/0000-0002-4219-219X"},"institutions":[{"id":"https://openalex.org/I119575151","display_name":"Korea National University of Transportation","ror":"https://ror.org/03qqbe534","country_code":"KR","type":"education","lineage":["https://openalex.org/I119575151"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jung Min Pak","raw_affiliation_strings":["Department of Artificial Intelligence, Korea National University of Transportation, Uiwang, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Artificial Intelligence, Korea National University of Transportation, Uiwang, Republic of Korea","institution_ids":["https://openalex.org/I119575151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100739668","display_name":"Peng Shi","orcid":"https://orcid.org/0000-0001-8218-586X"},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Peng Shi","raw_affiliation_strings":["School of Electrical and Mechanical Engineering, The University of Adelaide, Adelaide, SA, Australia"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Mechanical Engineering, The University of Adelaide, Adelaide, SA, Australia","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084993350","display_name":"Choon Ki Ahn","orcid":"https://orcid.org/0000-0003-0993-9658"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Choon Ki Ahn","raw_affiliation_strings":["School of Electrical Engineering, Korea University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I197347611"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101664628"],"corresponding_institution_ids":["https://openalex.org/I197347611"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32811009,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":"2","first_page":"2574","last_page":"2586"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.6870999932289124,"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":0.6870999932289124,"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/T10655","display_name":"GNSS positioning and interference","score":0.07259999960660934,"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/T11133","display_name":"UAV Applications and Optimization","score":0.0333000011742115,"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/robustness","display_name":"Robustness (evolution)","score":0.7843999862670898},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.703499972820282},{"id":"https://openalex.org/keywords/wireless-sensor-network","display_name":"Wireless sensor network","score":0.5177000164985657},{"id":"https://openalex.org/keywords/positioning-system","display_name":"Positioning system","score":0.49480000138282776},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4781999886035919},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.40389999747276306},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.3926999866962433},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.3573000133037567}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7843999862670898},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7590000033378601},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.703499972820282},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5196999907493591},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.5177000164985657},{"id":"https://openalex.org/C2778603505","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Positioning system","level":3,"score":0.49480000138282776},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4781999886035919},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.46059998869895935},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.40389999747276306},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.3926999866962433},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.3573000133037567},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.34049999713897705},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.32760000228881836},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.3246000111103058},{"id":"https://openalex.org/C151233233","wikidata":"https://www.wikidata.org/wiki/Q47574","display_name":"Units of measurement","level":2,"score":0.3230000138282776},{"id":"https://openalex.org/C2778075934","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Positioning technology","level":2,"score":0.2879999876022339},{"id":"https://openalex.org/C202511199","wikidata":"https://www.wikidata.org/wiki/Q7239503","display_name":"Precise Point Positioning","level":4,"score":0.2838999927043915},{"id":"https://openalex.org/C2777486483","wikidata":"https://www.wikidata.org/wiki/Q6026477","display_name":"Indoor positioning system","level":3,"score":0.2766999900341034},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.27619999647140503},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2644999921321869},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.2599000036716461},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2529999911785126},{"id":"https://openalex.org/C187394410","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Hybrid positioning system","level":4,"score":0.2529999911785126}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2025.3629868","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3629868","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1588137027","https://openalex.org/W1964907620","https://openalex.org/W2051349034","https://openalex.org/W2160584648","https://openalex.org/W2482726005","https://openalex.org/W2522615148","https://openalex.org/W2796872992","https://openalex.org/W3000004788","https://openalex.org/W3008124346","https://openalex.org/W3088412635","https://openalex.org/W3174265968","https://openalex.org/W3201487808","https://openalex.org/W4205754798","https://openalex.org/W4285028587","https://openalex.org/W4285278928","https://openalex.org/W4292825915","https://openalex.org/W4293680926","https://openalex.org/W4308783090","https://openalex.org/W4313839109","https://openalex.org/W4317796251","https://openalex.org/W4321609252","https://openalex.org/W4361804207","https://openalex.org/W4379620541","https://openalex.org/W4386228616","https://openalex.org/W4387790137","https://openalex.org/W4389890869","https://openalex.org/W4391128406","https://openalex.org/W4391305535","https://openalex.org/W4391661507","https://openalex.org/W4392939582","https://openalex.org/W4396597331","https://openalex.org/W4400111639","https://openalex.org/W4407937655"],"related_works":[],"abstract_inverted_index":{"Recently,":[0],"the":[1,28,37,84,102,116,131,149,152,185,201],"operational":[2],"domain":[3],"of":[4,39,83,124,151,207],"unmanned":[5],"aerial":[6],"vehicles":[7],"(UAVs)":[8],"has":[9],"expanded":[10],"from":[11],"outdoor":[12],"environments":[13],"to":[14,100],"indoor":[15],"spaces":[16],"such":[17],"as":[18,101],"factories,":[19],"power":[20],"plants,":[21],"and":[22,36,52,89,141,158,176,196,205],"tunnels.":[23],"In":[24,58],"these":[25],"environments,":[26],"where":[27],"global":[29],"navigation":[30],"satellite":[31],"system":[32,48],"(GNSS)":[33],"is":[34,44,56,78],"unavailable":[35],"risk":[38],"collision":[40],"with":[41,49,133,168,178,188],"surrounding":[42],"structures":[43],"high,":[45],"a":[46,63,72,109,121],"positioning":[47,66,106,191,203],"high":[50],"accuracy":[51,204],"fast":[53],"update":[54],"rates":[55],"essential.":[57],"this":[59],"paper,":[60],"we":[61,199],"propose":[62],"novel":[64],"three-dimensional":[65],"algorithm":[67,77,132,154,187],"for":[68],"UAVs":[69],"operating":[70],"in":[71,143],"GNSS-denied":[73],"environment.":[74],"The":[75,96],"proposed":[76,97,153,186],"based":[79,193],"on":[80,194],"sensor":[81,93,173,197],"fusion":[82],"inertial":[85],"measurement":[86,136,174],"unit":[87],"(IMU)":[88],"ultra":[90],"wideband-based":[91],"wireless":[92],"network":[94],"(UWB-WSN).":[95],"algorithm,":[98],"referred":[99],"recursive":[103],"extended":[104],"finite-memory":[105,111],"(REFMP),":[107],"features":[108],"unique":[110],"(FM)":[112],"structure":[113,129],"that":[114],"estimates":[115],"current":[117],"position":[118,145,181],"using":[119],"only":[120],"limited":[122],"set":[123],"recent":[125],"information.":[126,146,182],"This":[127],"FM":[128],"endows":[130],"robustness":[134,206],"against":[135],"model":[137],"errors,":[138,140,175],"linearization":[139],"uncertainties":[142],"initial":[144,180],"We":[147],"evaluated":[148],"performance":[150],"through":[155],"both":[156],"simulations":[157],"real-world":[159],"experiments":[160],"under":[161,209],"various":[162],"challenging":[163],"conditions,":[164],"including":[165],"UAV":[166,190],"collisions":[167],"walls,":[169],"aggressive":[170],"maneuvers":[171],"inducing":[172],"scenarios":[177],"uncertain":[179],"By":[183],"comparing":[184],"state-of-the-art":[189],"algorithms":[192],"IMU":[195],"fusion,":[198],"demonstrate":[200],"superior":[202],"REFMP":[208],"harsh":[210],"conditions.":[211]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-11-06T00:00:00"}
