{"id":"https://openalex.org/W2953098387","doi":"https://doi.org/10.1109/mits.2020.2994110","title":"Robust Vehicular Localization and Map Matching in Urban Environments Through IMU, GNSS, and Cellular Signals","display_name":"Robust Vehicular Localization and Map Matching in Urban Environments Through IMU, GNSS, and Cellular Signals","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W2953098387","doi":"https://doi.org/10.1109/mits.2020.2994110","mag":"2953098387"},"language":"en","primary_location":{"id":"doi:10.1109/mits.2020.2994110","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2020.2994110","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"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 Intelligent Transportation Systems Magazine","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/A5051240427","display_name":"Zaher M. Kassas","orcid":"https://orcid.org/0000-0002-4388-6142"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Zaher Zak M. Kassas","raw_affiliation_strings":["Navigation Laboratory, University of California, Irvine, Irvine, CA, USA"],"affiliations":[{"raw_affiliation_string":"Navigation Laboratory, University of California, Irvine, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053642377","display_name":"Mahdi Maaref","orcid":"https://orcid.org/0000-0003-0343-9337"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mahdi Maaref","raw_affiliation_strings":["Autonomous Systems Perception, Intelligence, and Navigation Laboratory, University of California, Irvine"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Perception, Intelligence, and Navigation Laboratory, University of California, Irvine","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071650755","display_name":"Joshua J. Morales","orcid":null},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joshua J. Morales","raw_affiliation_strings":["Autonomous Systems Perception, Intelligence, and Navigation Laboratory, University of California, Irvine"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Perception, Intelligence, and Navigation Laboratory, University of California, Irvine","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042526779","display_name":"Joe Khalife","orcid":"https://orcid.org/0000-0003-3519-256X"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joe J. Khalife","raw_affiliation_strings":["Autonomous Systems Perception, Intelligence, and Navigation Laboratory, University of California, Irvine"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Perception, Intelligence, and Navigation Laboratory, University of California, Irvine","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112448899","display_name":"Kimia Shamei","orcid":null},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kimia Shamei","raw_affiliation_strings":["Navigation Laboratory, University of California, Irvine, Irvine, CA, USA"],"affiliations":[{"raw_affiliation_string":"Navigation Laboratory, University of California, Irvine, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5051240427"],"corresponding_institution_ids":["https://openalex.org/I204250578"],"apc_list":null,"apc_paid":null,"fwci":7.067,"has_fulltext":false,"cited_by_count":101,"citation_normalized_percentile":{"value":0.97708492,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"12","issue":"3","first_page":"36","last_page":"52"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9969000220298767,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9861999750137329,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.9264841079711914},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8442144393920898},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5879186391830444},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5209368467330933},{"id":"https://openalex.org/keywords/gnss-augmentation","display_name":"GNSS augmentation","score":0.5131638646125793},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.47537627816200256},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.42871612310409546},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41627490520477295},{"id":"https://openalex.org/keywords/pseudorange","display_name":"Pseudorange","score":0.41531333327293396},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37108832597732544},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.36703675985336304},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.32519295811653137},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3147642910480499},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.23791572451591492},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16206884384155273},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.13244879245758057},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0804944634437561}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.9264841079711914},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8442144393920898},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5879186391830444},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5209368467330933},{"id":"https://openalex.org/C166212672","wikidata":"https://www.wikidata.org/wiki/Q2165162","display_name":"GNSS augmentation","level":4,"score":0.5131638646125793},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.47537627816200256},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.42871612310409546},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41627490520477295},{"id":"https://openalex.org/C174201072","wikidata":"https://www.wikidata.org/wiki/Q1187347","display_name":"Pseudorange","level":4,"score":0.41531333327293396},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37108832597732544},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.36703675985336304},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.32519295811653137},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3147642910480499},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.23791572451591492},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16206884384155273},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.13244879245758057},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0804944634437561},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mits.2020.2994110","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2020.2994110","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"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 Intelligent Transportation Systems Magazine","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G4840388387","display_name":null,"funder_award_id":"1929571","funder_id":"https://openalex.org/F4320337388","funder_display_name":"Division of Computer and Network Systems"},{"id":"https://openalex.org/G5276072512","display_name":null,"funder_award_id":"N00014-16-1-2305","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G7573941515","display_name":null,"funder_award_id":"1929965","funder_id":"https://openalex.org/F4320337388","funder_display_name":"Division of Computer and Network Systems"},{"id":"https://openalex.org/G8744265689","display_name":null,"funder_award_id":"N00014-16-1-2809","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320337388","display_name":"Division of Computer and Network Systems","ror":"https://ror.org/02rdzmk74"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W432844638","https://openalex.org/W579209984","https://openalex.org/W1486476160","https://openalex.org/W1500564636","https://openalex.org/W1531532259","https://openalex.org/W1579438189","https://openalex.org/W1633529777","https://openalex.org/W1966244759","https://openalex.org/W1985643633","https://openalex.org/W2023409854","https://openalex.org/W2042072348","https://openalex.org/W2070933692","https://openalex.org/W2074841350","https://openalex.org/W2083400934","https://openalex.org/W2088061407","https://openalex.org/W2091782715","https://openalex.org/W2094875868","https://openalex.org/W2110235183","https://openalex.org/W2134738694","https://openalex.org/W2142402075","https://openalex.org/W2145894404","https://openalex.org/W2146023544","https://openalex.org/W2171043665","https://openalex.org/W2295250376","https://openalex.org/W2322695148","https://openalex.org/W2411489828","https://openalex.org/W2472946096","https://openalex.org/W2496015346","https://openalex.org/W2565839243","https://openalex.org/W2585773957","https://openalex.org/W2595918220","https://openalex.org/W2595933642","https://openalex.org/W2600921989","https://openalex.org/W2608425432","https://openalex.org/W2733193128","https://openalex.org/W2750839131","https://openalex.org/W2768657109","https://openalex.org/W2770225726","https://openalex.org/W2781561575","https://openalex.org/W2782654437","https://openalex.org/W2792200982","https://openalex.org/W2793438435","https://openalex.org/W2801608170","https://openalex.org/W2807583738","https://openalex.org/W2905230970","https://openalex.org/W2906229647","https://openalex.org/W2953065146","https://openalex.org/W3023201122","https://openalex.org/W4206059392","https://openalex.org/W4244323842","https://openalex.org/W4285719527","https://openalex.org/W6731199773","https://openalex.org/W6736828528","https://openalex.org/W6751974471"],"related_works":["https://openalex.org/W3197004465","https://openalex.org/W3216386610","https://openalex.org/W4239395258","https://openalex.org/W3204981892","https://openalex.org/W4380563814","https://openalex.org/W3130617165","https://openalex.org/W2904557485","https://openalex.org/W3198415914","https://openalex.org/W2772082021","https://openalex.org/W4387760931"],"abstract_inverted_index":{"A":[0],"framework":[1,32,51,83,129],"for":[2,182],"ground":[3,135],"vehicle":[4,136],"localization":[5,36,188,201,216],"that":[6],"uses":[7],"cellular":[8,64,89,122],"signals":[9,43,164,179,207,222],"of":[10,87,155,170],"opportunity":[11],"(SOPs),":[12],"a":[13,22,79,134,139,144,150,159,190,196],"digital":[14],"map,":[15],"an":[16,38,53,168,211],"inertial":[17],"measurement":[18],"unit":[19],"(IMU),":[20],"and":[21,68,94,103,118,120,167,210],"Global":[23],"Navigation":[24],"Satellite":[25],"System":[26],"(GNSS)":[27],"receiver":[28,113],"is":[29,76,130,203,218],"developed.":[30],"This":[31],"aims":[33],"to":[34,58,91,187],"enable":[35],"in":[37,138,199,214],"urban":[39,141],"environment":[40],"where":[41],"GNSS":[42,163,178,206,221],"could":[44],"be":[45,92],"unusable":[46],"or":[47],"unreliable.":[48],"The":[49,74,82,127],"proposed":[50,128],"employs":[52],"extended":[54],"Kalman":[55],"filter":[56],"(EKF)":[57],"fuse":[59],"pseudorange":[60],"observables":[61],"extracted":[62],"from":[63],"SOPs,":[65],"IMU":[66,104],"measurements,":[67],"GNSS-derived":[69],"position":[70,151],"estimates":[71,96],"(when":[72],"available).":[73],"EKF":[75],"coupled":[77,192],"with":[78,107,143,189],"map-matching":[80],"approach.":[81],"assumes":[84],"the":[85,88,97,108,111,174,200,215],"positions":[86],"towers":[90],"known,":[93],"it":[95],"vehicle's":[98],"states":[99,116],"(position,":[100],"velocity,":[101],"orientation,":[102],"biases)":[105],"along":[106],"difference":[109],"between":[110],"vehicle-mounted":[112],"clock":[114,124],"error":[115,125,153,202,217],"(bias":[117],"drift)":[119],"each":[121],"SOP":[123],"state.":[126],"evaluated":[131],"experimentally":[132],"on":[133],"navigating":[137],"deep":[140],"area":[142],"limited":[145],"sky":[146],"view.":[147],"Results":[148],"show":[149],"root-mean-square":[152],"(RMSE)":[154],"2.8":[156],"m":[157,172],"across":[158,173],"1,380-m":[160],"trajectory":[161,176],"when":[162,177],"are":[165,180,208,223],"available":[166],"RMSE":[169],"3.12":[171],"same":[175],"unavailable":[181],"330":[183],"m.":[184],"Moreover,":[185],"compared":[186],"loosely":[191],"GNSS?IMU":[193],"integrated":[194],"system,":[195],"22%":[197],"reduction":[198,213],"obtained":[204,219],"whenever":[205,220],"available,":[209],"81%":[212],"unavailable.":[224]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":21},{"year":2022,"cited_by_count":23},{"year":2021,"cited_by_count":20},{"year":2020,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}