{"id":"https://openalex.org/W2001162850","doi":"https://doi.org/10.1109/taes.2012.6129622","title":"Observability of Strapdown INS Alignment: A Global Perspective","display_name":"Observability of Strapdown INS Alignment: A Global Perspective","publication_year":2012,"publication_date":"2012-01-01","ids":{"openalex":"https://openalex.org/W2001162850","doi":"https://doi.org/10.1109/taes.2012.6129622","mag":"2001162850"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2012.6129622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2012.6129622","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Aerospace and Electronic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1112.5282","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Yuanxin Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuanxin Wu","raw_affiliation_strings":["Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hongliang Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongliang Zhang","raw_affiliation_strings":["Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Meiping Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meiping Wu","raw_affiliation_strings":["Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiaoping Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoping Hu","raw_affiliation_strings":["Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":null,"display_name":"Dewen Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dewen Hu","raw_affiliation_strings":["Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":182.4482,"has_fulltext":false,"cited_by_count":100,"citation_normalized_percentile":{"value":0.99931087,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"48","issue":"1","first_page":"78","last_page":"102"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9728000164031982,"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":0.9728000164031982,"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":0.00430000014603138,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.0027000000700354576,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/observability","display_name":"Observability","score":0.9847000241279602},{"id":"https://openalex.org/keywords/unobservable","display_name":"Unobservable","score":0.7254999876022339},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6894000172615051},{"id":"https://openalex.org/keywords/observable","display_name":"Observable","score":0.6341000199317932},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5806000232696533},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5785999894142151},{"id":"https://openalex.org/keywords/constructive","display_name":"Constructive","score":0.5171999931335449},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4966000020503998}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.9847000241279602},{"id":"https://openalex.org/C2780695315","wikidata":"https://www.wikidata.org/wiki/Q3799040","display_name":"Unobservable","level":2,"score":0.7254999876022339},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6894000172615051},{"id":"https://openalex.org/C32848918","wikidata":"https://www.wikidata.org/wiki/Q845789","display_name":"Observable","level":2,"score":0.6341000199317932},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5806000232696533},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5785999894142151},{"id":"https://openalex.org/C2778701210","wikidata":"https://www.wikidata.org/wiki/Q28130034","display_name":"Constructive","level":3,"score":0.5171999931335449},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4966000020503998},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.48899999260902405},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4878000020980835},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.376800000667572},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37209999561309814},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.3504999876022339},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.33799999952316284},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33730000257492065},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3165999948978424},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29809999465942383},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.2978000044822693},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.2782000005245209},{"id":"https://openalex.org/C2776639384","wikidata":"https://www.wikidata.org/wiki/Q840396","display_name":"Ideal (ethics)","level":2,"score":0.2502000033855438}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/taes.2012.6129622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2012.6129622","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Aerospace and Electronic Systems","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1112.5282","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1112.5282","pdf_url":"https://arxiv.org/pdf/1112.5282","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1112.5282","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1112.5282","pdf_url":"https://arxiv.org/pdf/1112.5282","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1564768010","https://openalex.org/W1887006513","https://openalex.org/W1994879467","https://openalex.org/W1999524479","https://openalex.org/W2001853793","https://openalex.org/W2006863675","https://openalex.org/W2019983423","https://openalex.org/W2027887340","https://openalex.org/W2053198102","https://openalex.org/W2069693317","https://openalex.org/W2070336744","https://openalex.org/W2072481518","https://openalex.org/W2073046335","https://openalex.org/W2076616500","https://openalex.org/W2076830069","https://openalex.org/W2089929220","https://openalex.org/W2099198465","https://openalex.org/W2100893201","https://openalex.org/W2102576266","https://openalex.org/W2103807524","https://openalex.org/W2104495809","https://openalex.org/W2106065105","https://openalex.org/W2107184037","https://openalex.org/W2108287248","https://openalex.org/W2140998418","https://openalex.org/W2143388911","https://openalex.org/W2160469776","https://openalex.org/W2165796786","https://openalex.org/W2486057976","https://openalex.org/W2564581144","https://openalex.org/W4239216443","https://openalex.org/W6689173367","https://openalex.org/W6732940940"],"related_works":[],"abstract_inverted_index":{"Alignment":[0],"of":[1,33,44,81,109,119,188,209,215],"the":[2,22,31,42,45,53,58,78,85,89,95,107,117,120,132,142,189,221,239,244,253,258,266],"strapdown":[3,82,110,128,143,198],"inertial":[4],"navigation":[5],"system":[6,48,56,71],"(INS)":[7],"has":[8,73],"strong":[9],"nonlinearity,":[10],"even":[11],"worse":[12],"when":[13],"maneuvers,":[14],"e.g.,":[15,84],"tumbling":[16,114,255],"techniques,":[17],"are":[18,235],"employed":[19],"to":[20,29,105,264],"improve":[21],"alignment.":[23],"There":[24],"is":[25,68,145,168],"no":[26],"general":[27],"rule":[28],"attack":[30],"observability":[32,43,63,108,218],"a":[34,69,100,171,176,185,213],"nonlinear":[35,55,70],"system,":[36],"so":[37],"most":[38],"previous":[39,194],"works":[40],"addressed":[41],"corresponding":[46],"linearized":[47,59],"by":[49],"implicitly":[50],"assuming":[51],"that":[52,72,127,201],"original":[54],"and":[57,98,102,113,152,184,230,238,257],"one":[60],"have":[61],"identical":[62],"characteristics.":[64,76],"Strapdown":[65],"INS":[66,111,129,144,199],"alignment":[67,200,267],"its":[74],"own":[75],"Using":[77],"inherent":[79],"properties":[80],"INS,":[83],"attitude":[86,121],"evolution":[87],"on":[88,123,193,197],"SO(3)":[90],"manifold,":[91],"we":[92],"start":[93],"from":[94,175],"basic":[96],"definition":[97],"develop":[99],"global":[101,177],"constructive":[103],"approach":[104],"investigate":[106],"static":[112],"alignment,":[115,130],"highlighting":[116],"effects":[118],"maneuver":[122],"observability.":[124],"We":[125],"prove":[126],"considering":[131],"unknown":[133],"constant":[134],"sensor":[135],"biases,":[136],"will":[137,153],"be":[138,154],"completely":[139],"observable":[140,156],"if":[141,166],"rotated":[146,169],"successively":[147],"about":[148,170],"two":[149],"different":[150],"axes":[151],"nearly":[155],"for":[157,212],"finite":[158],"known":[159],"unobservable":[160],"states":[161],"(no":[162],"more":[163],"than":[164],"two)":[165],"it":[167],"single":[172],"axis.":[173],"Observability":[174],"perspective":[178],"provides":[179],"us":[180],"with":[181,226,243],"insights":[182],"into":[183],"clearer":[186],"picture":[187],"problem,":[190],"shedding":[191],"light":[192],"theoretical":[195],"results":[196,241],"were":[202],"not":[203],"comprehensive":[204],"or":[205],"consistent.":[206],"The":[207,246],"reporting":[208],"inconsistencies":[210],"calls":[211],"review":[214],"all":[216],"linearization-based":[217],"studies":[219],"in":[220,251,262],"vast":[222],"literature.":[223],"Extensive":[224],"simulations":[225],"constructed":[227],"ideal":[228],"observers":[229],"an":[231],"extended":[232],"Kalman":[233],"filter":[234],"carried":[236],"out,":[237],"numerical":[240],"accord":[242],"analysis.":[245],"conclusions":[247],"can":[248],"also":[249],"assist":[250],"designing":[252],"optimal":[254],"strategy":[256],"appropriate":[259],"state":[260],"observer":[261],"practice":[263],"maximize":[265],"performance.":[268]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":14},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":7}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2016-06-24T00:00:00"}
