{"id":"https://openalex.org/W4416677792","doi":"https://doi.org/10.1109/sbr/wre66973.2025.11249602","title":"Comparison of Delay Compensation Strategies in ESKF Low-Latency Navigation for More-Autonomous Aircraft","display_name":"Comparison of Delay Compensation Strategies in ESKF Low-Latency Navigation for More-Autonomous Aircraft","publication_year":2025,"publication_date":"2025-10-13","ids":{"openalex":"https://openalex.org/W4416677792","doi":"https://doi.org/10.1109/sbr/wre66973.2025.11249602"},"language":null,"primary_location":{"id":"doi:10.1109/sbr/wre66973.2025.11249602","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr/wre66973.2025.11249602","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 Brazilian Symposium on Robotics (SBR) and 2025 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-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/A5115904766","display_name":"Andrei Freiberger","orcid":"https://orcid.org/0009-0009-5167-5204"},"institutions":[{"id":"https://openalex.org/I4210123805","display_name":"Instituto de Aeron\u00e1utica e Espa\u00e7o","ror":"https://ror.org/025n1fp68","country_code":"BR","type":"other","lineage":["https://openalex.org/I4210123805"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Andrei Freiberger","raw_affiliation_strings":["Aeronautics Institute of Technology,Autonomous Computational Systems Lab.,São José dos Campos,Brazil"],"raw_orcid":"https://orcid.org/0009-0009-5167-5204","affiliations":[{"raw_affiliation_string":"Aeronautics Institute of Technology,Autonomous Computational Systems Lab.,São José dos Campos,Brazil","institution_ids":["https://openalex.org/I4210123805"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072776222","display_name":"Stiven S. Dias","orcid":"https://orcid.org/0000-0002-6285-4103"},"institutions":[{"id":"https://openalex.org/I1288761627","display_name":"Embraer (Brazil)","ror":"https://ror.org/00zbcgj92","country_code":"BR","type":"company","lineage":["https://openalex.org/I1288761627"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Stiven Schwanz Dias","raw_affiliation_strings":["TU Eindhoven,R&D Team / Data Mining Group Embraer S.A.,São José dos Campos,Brazil"],"raw_orcid":"https://orcid.org/0000-0002-6285-4103","affiliations":[{"raw_affiliation_string":"TU Eindhoven,R&D Team / Data Mining Group Embraer S.A.,São José dos Campos,Brazil","institution_ids":["https://openalex.org/I1288761627"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019218502","display_name":"Marcos R. O. A. M\u00e1ximo","orcid":"https://orcid.org/0000-0003-2944-4476"},"institutions":[{"id":"https://openalex.org/I4210123805","display_name":"Instituto de Aeron\u00e1utica e Espa\u00e7o","ror":"https://ror.org/025n1fp68","country_code":"BR","type":"other","lineage":["https://openalex.org/I4210123805"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Marcos R. O. A. M\u00e1ximo","raw_affiliation_strings":["Aeronautics Institute of Technology,Autonomous Computational Systems Lab.,São José dos Campos,Brazil"],"raw_orcid":"https://orcid.org/0000-0003-2944-4476","affiliations":[{"raw_affiliation_string":"Aeronautics Institute of Technology,Autonomous Computational Systems Lab.,São José dos Campos,Brazil","institution_ids":["https://openalex.org/I4210123805"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.42035312,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"90","last_page":"95"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.34290000796318054,"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":0.34290000796318054,"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":0.24250000715255737,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.2304999977350235,"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/extrapolation","display_name":"Extrapolation","score":0.708299994468689},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6148999929428101},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5830000042915344},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5748999714851379},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5108000040054321},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4884999990463257},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.44190001487731934}],"concepts":[{"id":"https://openalex.org/C132459708","wikidata":"https://www.wikidata.org/wiki/Q744069","display_name":"Extrapolation","level":2,"score":0.708299994468689},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6148999929428101},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5830000042915344},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5748999714851379},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5730000138282776},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5108000040054321},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4884999990463257},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.44190001487731934},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37049999833106995},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.3650999963283539},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.34869998693466187},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.31869998574256897},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31380000710487366},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.302700012922287},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.2978000044822693},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2883000075817108},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.28780001401901245},{"id":"https://openalex.org/C151233233","wikidata":"https://www.wikidata.org/wiki/Q47574","display_name":"Units of measurement","level":2,"score":0.2752000093460083},{"id":"https://openalex.org/C525452385","wikidata":"https://www.wikidata.org/wiki/Q5156265","display_name":"Compensation methods","level":4,"score":0.2632000148296356},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.259799987077713},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.25440001487731934}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sbr/wre66973.2025.11249602","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr/wre66973.2025.11249602","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 Brazilian Symposium on Robotics (SBR) and 2025 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7524169298","display_name":null,"funder_award_id":"307525/2022-8","funder_id":"https://openalex.org/F4320322025","funder_display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico"}],"funders":[{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2013416952","https://openalex.org/W2018016208","https://openalex.org/W2023915291","https://openalex.org/W2125695486","https://openalex.org/W2159250784","https://openalex.org/W3130983322","https://openalex.org/W3200141680","https://openalex.org/W3210332055","https://openalex.org/W4280642526","https://openalex.org/W4292553941","https://openalex.org/W4305057149","https://openalex.org/W4382582441"],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"state":[1],"estimation":[2],"is":[3],"critical":[4],"for":[5,50,57,130],"the":[6,16,91],"safe":[7],"and":[8,46,78,97,141],"reliable":[9],"operation":[10],"of":[11,38],"autonomous":[12],"aerial":[13],"vehicles.":[14],"However,":[15],"inherent":[17],"delay":[18,40,134],"in":[19,61,69],"sensor":[20],"measurements,":[21],"such":[22],"as":[23],"those":[24],"from":[25],"vision-based":[26],"systems,":[27],"poses":[28],"a":[29,35,66,73,105,113],"significant":[30,106],"challenge.":[31],"This":[32,125],"study":[33],"presents":[34],"comparative":[36],"analysis":[37,126],"two":[39],"compensation":[41,135],"techniques,":[42],"Filter":[43,54],"Recalculation":[44],"(FR)":[45],"Measurement":[47],"Extrapolation":[48],"(ME),":[49],"an":[51,132],"Error-State":[52],"Kalman":[53],"(ESKF)":[55],"designed":[56],"inertial":[58],"navigation,":[59],"particularly":[60],"GNSS-denied":[62],"environments.":[63],"We":[64],"developed":[65],"simulation":[67],"environment":[68],"C++":[70],"to":[71,83],"model":[72],"navigation":[74],"system":[75],"fusing":[76],"IMU":[77],"camera":[79],"data,":[80],"subjecting":[81],"it":[82],"different":[84],"measurement":[85],"delays.":[86,124],"The":[87,109],"results":[88],"indicate":[89],"that":[90],"FR":[92],"method":[93,111],"achieves":[94],"superior":[95],"accuracy":[96,140],"robustness,":[98],"nearly":[99],"eliminating":[100],"delay-induced":[101],"errors,":[102],"but":[103,118],"at":[104],"computational":[107],"cost.":[108],"ME":[110],"offers":[112],"more":[114],"computationally":[115],"efficient":[116],"alternative":[117],"exhibits":[119],"numerical":[120],"instability":[121],"with":[122],"larger":[123],"provides":[127],"crucial":[128],"insights":[129],"selecting":[131],"appropriate":[133],"strategy":[136],"based":[137],"on":[138],"system-specific":[139],"latency":[142],"requirements.":[143]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-25T00:00:00"}