{"id":"https://openalex.org/W4413979409","doi":"https://doi.org/10.1109/rcar65431.2025.11139452","title":"An online fault detection method for UAV navigation based on spatial motion coordinates<sup>*</sup>","display_name":"An online fault detection method for UAV navigation based on spatial motion coordinates<sup>*</sup>","publication_year":2025,"publication_date":"2025-06-01","ids":{"openalex":"https://openalex.org/W4413979409","doi":"https://doi.org/10.1109/rcar65431.2025.11139452"},"language":"en","primary_location":{"id":"doi:10.1109/rcar65431.2025.11139452","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar65431.2025.11139452","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5109727019","display_name":"Xinyi Wan","orcid":null},"institutions":[{"id":"https://openalex.org/I2801618472","display_name":"PLA Rocket Force University of Engineering","ror":"https://ror.org/00gg5zj35","country_code":"CN","type":"education","lineage":["https://openalex.org/I2801618472"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyi Wan","raw_affiliation_strings":["Rocket Force University of Engineering,Xi&#x2019;an,China,710025"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rocket Force University of Engineering,Xi&#x2019;an,China,710025","institution_ids":["https://openalex.org/I2801618472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102013587","display_name":"Chuanyang Li","orcid":"https://orcid.org/0000-0003-0914-6746"},"institutions":[{"id":"https://openalex.org/I2801618472","display_name":"PLA Rocket Force University of Engineering","ror":"https://ror.org/00gg5zj35","country_code":"CN","type":"education","lineage":["https://openalex.org/I2801618472"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuanyang Li","raw_affiliation_strings":["Rocket Force University of Engineering,Xi&#x2019;an,China,710025"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rocket Force University of Engineering,Xi&#x2019;an,China,710025","institution_ids":["https://openalex.org/I2801618472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115594106","display_name":"Zeming Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I2801618472","display_name":"PLA Rocket Force University of Engineering","ror":"https://ror.org/00gg5zj35","country_code":"CN","type":"education","lineage":["https://openalex.org/I2801618472"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeming Zhang","raw_affiliation_strings":["Rocket Force University of Engineering,Xi&#x2019;an,China,710025"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rocket Force University of Engineering,Xi&#x2019;an,China,710025","institution_ids":["https://openalex.org/I2801618472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101794519","display_name":"Changhua Hu","orcid":"https://orcid.org/0000-0002-9983-5061"},"institutions":[{"id":"https://openalex.org/I2801618472","display_name":"PLA Rocket Force University of Engineering","ror":"https://ror.org/00gg5zj35","country_code":"CN","type":"education","lineage":["https://openalex.org/I2801618472"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changhua Hu","raw_affiliation_strings":["Rocket Force University of Engineering,Xi&#x2019;an,China,710025"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rocket Force University of Engineering,Xi&#x2019;an,China,710025","institution_ids":["https://openalex.org/I2801618472"]}]},{"author_position":"last","author":{"id":null,"display_name":"Mingzhe Leng","orcid":null},"institutions":[{"id":"https://openalex.org/I2801618472","display_name":"PLA Rocket Force University of Engineering","ror":"https://ror.org/00gg5zj35","country_code":"CN","type":"education","lineage":["https://openalex.org/I2801618472"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingzhe Leng","raw_affiliation_strings":["Rocket Force University of Engineering,Xi&#x2019;an,China,710025"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rocket Force University of Engineering,Xi&#x2019;an,China,710025","institution_ids":["https://openalex.org/I2801618472"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2801618472"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23809081,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1116","last_page":"1123"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973000288009644,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973000288009644,"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"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9909999966621399,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/computer-vision","display_name":"Computer vision","score":0.6651096343994141},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6480251550674438},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5761987566947937},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5355985164642334},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.36069419980049133}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6651096343994141},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6480251550674438},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5761987566947937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5355985164642334},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.36069419980049133}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar65431.2025.11139452","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar65431.2025.11139452","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W3165559098","https://openalex.org/W4327808455","https://openalex.org/W4376605491","https://openalex.org/W4386763647","https://openalex.org/W4404860533"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"To":[0],"address":[1],"the":[2,39,47,53,58,68,75,84,90,97,121,126,129,148],"challenging":[3],"issue":[4],"of":[5,52,125,128,150],"online":[6,32],"fault":[7,21,59,69,135],"discrimination":[8,60,70,136],"in":[9,101],"unmanned":[10],"aerial":[11],"vehicle":[12],"(UAV)":[13],"navigation":[14,99],"systems,":[15],"this":[16],"paper":[17],"introduces":[18],"an":[19],"innovative":[20,132],"detection":[22],"method":[23,92,133],"that":[24,89],"leverages":[25],"spatial":[26,40,108],"motion":[27,41,109],"coordinates.":[28],"This":[29],"approach":[30],"performs":[31],"synchronization,":[33],"linear":[34],"interpolation":[35],"and":[36,50,56,123,140,144],"smoothing":[37],"on":[38,105],"coordinate":[42,110],"position":[43],"data.":[44],"By":[45],"calculating":[46],"position,":[48,114],"velocity":[49],"acceleration":[51,117],"given":[54],"data":[55],"selecting":[57],"thresholds":[61],"adaptively":[62],"through":[63],"a":[64,106],"grid":[65],"search":[66],"algorithm,":[67],"are":[71],"fast":[72],"realized.":[73],"Then,":[74],"simulation":[76],"date":[77],"randomly":[78],"generated":[79],"is":[80],"employed":[81],"to":[82],"validate":[83],"procedure.":[85],"It":[86],"turns":[87],"out":[88],"proposed":[91],"discriminate":[93],"effectively":[94],"anomalies":[95],"for":[96,134,147],"UAV":[98,151],"systems":[100],"real":[102],"time":[103],"based":[104],"single":[107],"data,":[111],"such":[112],"as":[113],"velocity,":[115],"or":[116],"information,":[118],"which":[119],"improves":[120],"accuracy":[122],"stability":[124],"system":[127],"interest.":[130],"The":[131],"demonstrates":[137],"high":[138],"sensitivity":[139],"robustness,":[141],"providing":[142],"theoretical":[143],"technical":[145],"support":[146],"safety":[149],"flight":[152]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}