{"id":"https://openalex.org/W2409360185","doi":"https://doi.org/10.1109/plans.2016.7479802","title":"Detection of biases and faults in navigation sensor measurements","display_name":"Detection of biases and faults in navigation sensor measurements","publication_year":2016,"publication_date":"2016-04-01","ids":{"openalex":"https://openalex.org/W2409360185","doi":"https://doi.org/10.1109/plans.2016.7479802","mag":"2409360185"},"language":"en","primary_location":{"id":"doi:10.1109/plans.2016.7479802","is_oa":false,"landing_page_url":"https://doi.org/10.1109/plans.2016.7479802","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/ION Position, Location and Navigation Symposium (PLANS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/1278844","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080055352","display_name":"Sasha Draganov","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]},{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["CN","US"],"is_corresponding":true,"raw_author_name":"Sasha Draganov","raw_affiliation_strings":["Computational Interaction and Robotics Laboratory, Johns Hopkins University, USA","School of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Computational Interaction and Robotics Laboratory, Johns Hopkins University, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"School of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5080055352"],"corresponding_institution_ids":["https://openalex.org/I145311948","https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":5.5287,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.97089287,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"v","issue":null,"first_page":"1008","last_page":"1014"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10655","display_name":"GNSS positioning and interference","score":0.9961000084877014,"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/T10655","display_name":"GNSS positioning and interference","score":0.9961000084877014,"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":0.987500011920929,"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":0.9800000190734863,"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/computer-science","display_name":"Computer science","score":0.6820916533470154},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6423236131668091},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6100388169288635},{"id":"https://openalex.org/keywords/observational-error","display_name":"Observational error","score":0.5394696593284607},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5301433801651001},{"id":"https://openalex.org/keywords/receiver-autonomous-integrity-monitoring","display_name":"Receiver autonomous integrity monitoring","score":0.5260924100875854},{"id":"https://openalex.org/keywords/epoch","display_name":"Epoch (astronomy)","score":0.5055022239685059},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4453481435775757},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4232252240180969},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4211735129356384},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28882116079330444},{"id":"https://openalex.org/keywords/assisted-gps","display_name":"Assisted GPS","score":0.21089625358581543},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.2094491720199585},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.15903949737548828},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.15435558557510376},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1078057587146759},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08801329135894775}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6820916533470154},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6423236131668091},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6100388169288635},{"id":"https://openalex.org/C19619285","wikidata":"https://www.wikidata.org/wiki/Q196372","display_name":"Observational error","level":2,"score":0.5394696593284607},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5301433801651001},{"id":"https://openalex.org/C94821174","wikidata":"https://www.wikidata.org/wiki/Q2135146","display_name":"Receiver autonomous integrity monitoring","level":4,"score":0.5260924100875854},{"id":"https://openalex.org/C2780317896","wikidata":"https://www.wikidata.org/wiki/Q2703","display_name":"Epoch (astronomy)","level":3,"score":0.5055022239685059},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4453481435775757},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4232252240180969},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4211735129356384},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28882116079330444},{"id":"https://openalex.org/C198613851","wikidata":"https://www.wikidata.org/wiki/Q432394","display_name":"Assisted GPS","level":3,"score":0.21089625358581543},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.2094491720199585},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.15903949737548828},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.15435558557510376},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1078057587146759},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08801329135894775},{"id":"https://openalex.org/C150846664","wikidata":"https://www.wikidata.org/wiki/Q7602306","display_name":"Stars","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/plans.2016.7479802","is_oa":false,"landing_page_url":"https://doi.org/10.1109/plans.2016.7479802","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/ION Position, Location and Navigation Symposium (PLANS)","raw_type":"proceedings-article"},{"id":"pmh:oai:zenodo.org:1278844","is_oa":true,"landing_page_url":"https://zenodo.org/record/1278844","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/other"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:1278844","is_oa":true,"landing_page_url":"https://zenodo.org/record/1278844","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/other"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.4399999976158142,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":3,"referenced_works":["https://openalex.org/W1973131250","https://openalex.org/W2729523994","https://openalex.org/W6740224588"],"related_works":["https://openalex.org/W2600104467","https://openalex.org/W2393388887","https://openalex.org/W2379758693","https://openalex.org/W2418459615","https://openalex.org/W2389957106","https://openalex.org/W4313886815","https://openalex.org/W2038183074","https://openalex.org/W2134822252","https://openalex.org/W2773722138","https://openalex.org/W4387668103"],"abstract_inverted_index":{"A":[0],"modern":[1],"navigation":[2,264],"system":[3,105,265],"integrates":[4],"data":[5,138],"from":[6,78],"different":[7,11,295],"sensors":[8,296],"that":[9,139,262,313,329,488],"have":[10,25,474],"error":[12,56,152,369],"statistics,":[13,57],"including":[14],"biases.":[15],"For":[16],"example,":[17,128],"inertial":[18],"measurement":[19,151,157,168,188,360,368],"units":[20],"(IMUs)":[21],"are":[22,49,70,246,335],"known":[23],"to":[24,34,132,143,199,248,307,372,425],"biases":[26,48,191,218,253],"and":[27,30,254,340,374,402,451,477,481],"other":[28,271],"errors,":[29],"it":[31],"is":[32,75,106,112,153,175,183,306,370,424],"common":[33,336],"allocate":[35],"states":[36,293],"in":[37,94,113,136,162,186,192,203,219,233,256,303,332,386,421,454,495],"the":[38,64,110,137,147,176,193,220,223,263,278,309,319,333,345,348,363,375,378,416,427,438,448,496],"filter":[39,334],"for":[40,46,63,134,215,355,366,418,440],"estimating":[41],"such":[42,47,58,173],"errors.":[43],"However,":[44,190],"models":[45],"typically":[50],"based":[51,392],"on":[52,377,393,458,479,482],"some":[53,270],"assumptions":[54,69],"about":[55],"as":[59],"a":[60,72,79,86,91,98,102,114,120,124,150,156,163,204,234,359,367,381,384,387,399,412,456,465,469],"random":[61],"walk":[62],"bias":[65,87,121,382],"magnitude.":[66],"When":[67],"these":[68],"incorrect,":[71],"new":[73],"approach":[74,260,305],"required.":[76],"Measurements":[77],"barometric":[80],"altitude":[81],"sensor":[82,257,357,388],"present":[83,212,486],"an":[84,213,267,404,432],"example:":[85],"may":[88,122,130,140],"change":[89],"if":[90,101],"user":[92,111,279,292],"steps":[93],"or":[95,100,269,383,468],"out":[96],"of":[97,149,172,321,347,380,396,406,491],"building,":[99],"forced-air":[103],"heating":[104],"turned":[107],"on/off":[108],"while":[109],"building.":[115],"In":[116,126,208],"cases":[117],"like":[118],"this,":[119],"exhibit":[123],"jump.":[125],"another":[127],"one":[129],"need":[131],"watch":[133],"faults":[135,255,494],"occur":[141],"due":[142],"equipment":[144],"malfunction.":[145],"If":[146],"magnitude":[148],"large":[154],"enough,":[155],"fault":[158,385,441,449,459],"can":[159,195,341,461],"be":[160,196,342,390,462],"detected":[161],"single":[164,205,235],"epoch":[165,206],"by":[166,327],"using":[167,444,464],"redundancy.":[169],"An":[170],"example":[171],"algorithm":[174,214,285],"Receiver":[177],"Autonomous":[178],"Integrity":[179],"Monitor":[180],"(RAIM),":[181],"which":[182,275,436],"widely":[184],"used":[185],"GPS":[187],"processing.":[189],"measurements":[194,232],"small":[197],"enough":[198],"make":[200],"their":[201],"detection":[202,490],"difficult.":[207],"this":[209,304,325,407],"paper,":[210],"we":[211,226,245,350],"detecting":[216],"hidden":[217,252,493],"measurements.":[221,258],"Unlike":[222],"RAIM":[224],"algorithm,":[225],"use":[227,420],"redundancy":[228],"not":[229],"just":[230],"across":[231,337],"epoch,":[236],"but":[237],"also":[238],"over":[239,282],"time.":[240,283],"By":[241],"leveraging":[242],"time":[243,272],"history,":[244],"able":[247],"detect":[249],"small,":[250,492],"otherwise":[251],"This":[259],"requires":[261,411],"employs":[266],"IMU":[268],"update":[273],"mechanism,":[274],"\"stitches":[276],"together\"":[277],"state":[280],"estimates":[281,354],"The":[284,300,409],"runs":[286],"several":[287],"independent":[288],"processing":[289,314,428],"threads,":[290],"comparing":[291],"with":[294],"(or":[297,358],"channels)":[298],"excluded.":[299],"key":[301,417],"challenge":[302],"minimize":[308,426],"computational":[310],"load,":[311],"so":[312],"requirements":[315],"scale":[316],"less":[317],"than":[318],"number":[320],"threads.":[322],"We":[323,430,485],"achieve":[324],"goal":[326],"observing":[328],"most":[330],"computations":[331],"all":[338],"threads":[339],"recycled.":[343],"As":[344],"result":[346],"computation,":[349],"arrive":[351],"at":[352],"bias/fault":[353,400],"each":[356],"channel).":[361],"Obviously,":[362],"desirable":[364],"value":[365],"close":[371],"zero,":[373],"decision":[376,457],"existence":[379,460],"must":[389],"made":[391,463],"two":[394],"pieces":[395],"data:":[397],"(1)":[398],"estimate":[401,442,450],"(2)":[403],"uncertainty":[405,439,453],"estimate.":[408],"latter":[410],"separate":[413],"computation;":[414],"again,":[415],"its":[419,452],"real":[422,483],"applications":[423],"requirements.":[429],"derive":[431],"analytical":[433],"recursive":[434],"formulation,":[435],"updates":[437],"sequentially,":[443],"minimum":[445],"resources.":[446],"With":[447],"hand,":[455],"chi-square":[466],"test":[467],"similar":[470],"approach.":[471],"These":[472],"algorithms":[473],"been":[475],"implemented":[476],"tested":[478],"simulated":[480],"data.":[484,497],"results":[487],"illustrate":[489]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-04T08:04:53.788161","created_date":"2025-10-10T00:00:00"}