{"id":"https://openalex.org/W4416707250","doi":"https://doi.org/10.1109/tac.2025.3637661","title":"Iterated Invariant Extended Kalman Filter (IterIEKF)","display_name":"Iterated Invariant Extended Kalman Filter (IterIEKF)","publication_year":2025,"publication_date":"2025-11-26","ids":{"openalex":"https://openalex.org/W4416707250","doi":"https://doi.org/10.1109/tac.2025.3637661"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2025.3637661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2025.3637661","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://orbi.uliege.be/bitstream/2268/317469/1/IIEKF_TN_V4.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113099496","display_name":"Sven Goffin","orcid":null},"institutions":[{"id":"https://openalex.org/I157674565","display_name":"University of Li\u00e8ge","ror":"https://ror.org/00afp2z80","country_code":"BE","type":"education","lineage":["https://openalex.org/I157674565"]},{"id":"https://openalex.org/I4210130966","display_name":"National Research Fund Luxembourg","ror":"https://ror.org/039z13y21","country_code":"LU","type":"nonprofit","lineage":["https://openalex.org/I4210130966"]}],"countries":["BE","LU"],"is_corresponding":false,"raw_author_name":"Sven Goffin","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of Li&#x00E8;ge, Li&#x00E8;ge, Belgium","FRIA grantee of the Fonds de la Recherche Scientifique - FNRS, Belgium"],"raw_orcid":"https://orcid.org/0009-0001-1907-7919","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of Li&#x00E8;ge, Li&#x00E8;ge, Belgium","institution_ids":["https://openalex.org/I157674565"]},{"raw_affiliation_string":"FRIA grantee of the Fonds de la Recherche Scientifique - FNRS, Belgium","institution_ids":["https://openalex.org/I4210130966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072919180","display_name":"Axel Barrau","orcid":"https://orcid.org/0000-0002-8957-8292"},"institutions":[{"id":"https://openalex.org/I4210086691","display_name":"Osteopathic Founders Foundation","ror":"https://ror.org/00yy1mz70","country_code":"US","type":"other","lineage":["https://openalex.org/I4210086691"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Axel Barrau","raw_affiliation_strings":["OFFROAD, Alfortville, France","OFFROAD, France"],"raw_orcid":"https://orcid.org/0000-0002-8957-8292","affiliations":[{"raw_affiliation_string":"OFFROAD, Alfortville, France","institution_ids":[]},{"raw_affiliation_string":"OFFROAD, France","institution_ids":["https://openalex.org/I4210086691"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037120106","display_name":"Silv\u00e8re Bonnabel","orcid":"https://orcid.org/0000-0002-6001-7766"},"institutions":[{"id":"https://openalex.org/I2746051580","display_name":"Universit\u00e9 Paris Sciences et Lettres","ror":"https://ror.org/013cjyk83","country_code":"FR","type":"education","lineage":["https://openalex.org/I2746051580"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Silv\u00e8re Bonnabel","raw_affiliation_strings":["MINES Paris, PSL Research University, Centre for Robotics, Paris, France","MINES Paris, PSL Research University, Centre for Robotics, France"],"raw_orcid":"https://orcid.org/0000-0002-6001-7766","affiliations":[{"raw_affiliation_string":"MINES Paris, PSL Research University, Centre for Robotics, Paris, France","institution_ids":["https://openalex.org/I2746051580"]},{"raw_affiliation_string":"MINES Paris, PSL Research University, Centre for Robotics, France","institution_ids":["https://openalex.org/I2746051580"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023087406","display_name":"Olivier Br\u00fcls","orcid":"https://orcid.org/0000-0003-2668-1353"},"institutions":[{"id":"https://openalex.org/I157674565","display_name":"University of Li\u00e8ge","ror":"https://ror.org/00afp2z80","country_code":"BE","type":"education","lineage":["https://openalex.org/I157674565"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Olivier Br\u00fcls","raw_affiliation_strings":["Department of Aerospace and Mechanical Engineering, University of Li&#x00E8;ge, Li&#x00E8;ge, Belgium","Department of Aerospace and Mechanical Engineering, University of Li&#x00E8;ge, Belgium"],"raw_orcid":"https://orcid.org/0000-0003-2668-1353","affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, University of Li&#x00E8;ge, Li&#x00E8;ge, Belgium","institution_ids":["https://openalex.org/I157674565"]},{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, University of Li&#x00E8;ge, Belgium","institution_ids":["https://openalex.org/I157674565"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009797399","display_name":"Pierre Sacr\u00e9","orcid":"https://orcid.org/0000-0002-7228-1628"},"institutions":[{"id":"https://openalex.org/I157674565","display_name":"University of Li\u00e8ge","ror":"https://ror.org/00afp2z80","country_code":"BE","type":"education","lineage":["https://openalex.org/I157674565"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Pierre Sacr\u00e9","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of Li&#x00E8;ge, Li&#x00E8;ge, Belgium","Department of Electrical Engineering and Computer Science, University of Li&#x00E8;ge, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-7228-1628","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of Li&#x00E8;ge, Li&#x00E8;ge, Belgium","institution_ids":["https://openalex.org/I157674565"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of Li&#x00E8;ge, Belgium","institution_ids":["https://openalex.org/I157674565"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.42161283,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"71","issue":"5","first_page":"3380","last_page":"3387"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.871399998664856,"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":0.871399998664856,"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":0.06769999861717224,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.008700000122189522,"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/kalman-filter","display_name":"Kalman filter","score":0.832099974155426},{"id":"https://openalex.org/keywords/iterated-function","display_name":"Iterated function","score":0.8046000003814697},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.7318999767303467},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5605999827384949},{"id":"https://openalex.org/keywords/alpha-beta-filter","display_name":"Alpha beta filter","score":0.5498999953269958},{"id":"https://openalex.org/keywords/fast-kalman-filter","display_name":"Fast Kalman filter","score":0.5462999939918518},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5439000129699707},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5206000208854675}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.832099974155426},{"id":"https://openalex.org/C140479938","wikidata":"https://www.wikidata.org/wiki/Q5254619","display_name":"Iterated function","level":2,"score":0.8046000003814697},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.7318999767303467},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5605999827384949},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5519000291824341},{"id":"https://openalex.org/C11588082","wikidata":"https://www.wikidata.org/wiki/Q4735154","display_name":"Alpha beta filter","level":5,"score":0.5498999953269958},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.5462999939918518},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5439000129699707},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5206000208854675},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5020999908447266},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.4203999936580658},{"id":"https://openalex.org/C79334102","wikidata":"https://www.wikidata.org/wiki/Q3072268","display_name":"Ensemble Kalman filter","level":4,"score":0.4099999964237213},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.3828999996185303},{"id":"https://openalex.org/C87698059","wikidata":"https://www.wikidata.org/wiki/Q1808960","display_name":"LTI system theory","level":3,"score":0.37400001287460327},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.3634999990463257},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.35260000824928284},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3384999930858612},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.32659998536109924},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.32499998807907104},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.3244999945163727},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30630001425743103},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.29490000009536743}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tac.2025.3637661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2025.3637661","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:orbi.ulg.ac.be:2268/317469","is_oa":true,"landing_page_url":"https://orbi.uliege.be/handle/2268/317469","pdf_url":"https://orbi.uliege.be/bitstream/2268/317469/1/IIEKF_TN_V4.pdf","source":{"id":"https://openalex.org/S4306400651","display_name":"Open Repository and Bibliography (University of Li\u00e8ge)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I157674565","host_organization_name":"University of Li\u00e8ge","host_organization_lineage":["https://openalex.org/I157674565"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automatic Control (2026-05)","raw_type":"peer reviewed"},{"id":"pmh:oai:HAL:hal-05517561v1","is_oa":false,"landing_page_url":"https://hal.science/hal-05517561","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automatic Control, 2025, pp.1-8. &#x27E8;10.1109/TAC.2025.3637661&#x27E9;","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:orbi.ulg.ac.be:2268/317469","is_oa":true,"landing_page_url":"https://orbi.uliege.be/handle/2268/317469","pdf_url":"https://orbi.uliege.be/bitstream/2268/317469/1/IIEKF_TN_V4.pdf","source":{"id":"https://openalex.org/S4306400651","display_name":"Open Repository and Bibliography (University of Li\u00e8ge)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I157674565","host_organization_name":"University of Li\u00e8ge","host_organization_lineage":["https://openalex.org/I157674565"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automatic Control (2026-05)","raw_type":"peer reviewed"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334840","display_name":"Fonds pour la Formation \u00e0 la Recherche dans l\u2019Industrie et dans l\u2019Agriculture","ror":"https://ror.org/03q83t159"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4416707250.pdf","grobid_xml":"https://content.openalex.org/works/W4416707250.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0,61],"study":[1],"the":[2,6,15,20,23,33,50,57,63,67,71,87,91],"mathematical":[3],"properties":[4],"of":[5,22,32,56,69,74],"Invariant":[7],"Extended":[8,26],"Kalman":[9,27,59],"Filter":[10],"(IEKF)":[11],"when":[12,93],"iterating":[13],"on":[14],"measurement":[16,81],"update":[17],"step,":[18],"following":[19],"principles":[21],"well-known":[24],"Iterated":[25],"Filter.":[28],"This":[29],"iterative":[30],"variant":[31],"IEKF":[34,92],"(IterIEKF)":[35],"systematically":[36],"improves":[37],"its":[38],"accuracy":[39],"through":[40],"Gauss-Newton-based":[41],"relinearization,":[42],"and":[43],"exhibits":[44],"additional":[45],"theoretical":[46],"properties,":[47],"particularly":[48],"in":[49],"low-noise":[51],"regime,":[52],"that":[53,86],"resemble":[54],"those":[55],"linear":[58],"filter.":[60],"apply":[62],"proposed":[64],"approach":[65],"to":[66],"problem":[68],"estimating":[70],"extended":[72],"pose":[73],"a":[75],"crane":[76],"payload":[77],"using":[78],"an":[79],"inertial":[80],"unit.":[82],"Our":[83],"results":[84],"suggest":[85],"IterIEKF":[88],"significantly":[89],"outperforms":[90],"measurements":[94],"are":[95],"highly":[96],"accurate.":[97]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-27T00:00:00"}
