{"id":"https://openalex.org/W2922317452","doi":"https://doi.org/10.1109/taes.2019.2902679","title":"Linear- and Linear-Matrix-Inequality-Constrained State Estimation for Nonlinear Systems","display_name":"Linear- and Linear-Matrix-Inequality-Constrained State Estimation for Nonlinear Systems","publication_year":2019,"publication_date":"2019-03-12","ids":{"openalex":"https://openalex.org/W2922317452","doi":"https://doi.org/10.1109/taes.2019.2902679","mag":"2922317452"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2019.2902679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2019.2902679","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":["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/A5078982695","display_name":"Robin Aucoin","orcid":"https://orcid.org/0000-0003-2259-5108"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Robin Aucoin","raw_affiliation_strings":["McGill University, Montreal, Canada"],"affiliations":[{"raw_affiliation_string":"McGill University, Montreal, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037447079","display_name":"Stephen Alexander Chee","orcid":null},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Stephen Alexander Chee","raw_affiliation_strings":["McGill University, Montreal, Canada"],"affiliations":[{"raw_affiliation_string":"McGill University, Montreal, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023450612","display_name":"James Richard Forbes","orcid":"https://orcid.org/0000-0002-1987-9268"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"James Richard Forbes","raw_affiliation_strings":["McGill University, Montreal, Canada"],"affiliations":[{"raw_affiliation_string":"McGill University, Montreal, Canada","institution_ids":["https://openalex.org/I5023651"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5078982695"],"corresponding_institution_ids":["https://openalex.org/I5023651"],"apc_list":null,"apc_paid":null,"fwci":1.2602,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.84722811,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"55","issue":"6","first_page":"3153","last_page":"3167"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9995999932289124,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9970999956130981,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9958000183105469,"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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7385909557342529},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.5780841708183289},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5772940516471863},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5699639320373535},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5474163293838501},{"id":"https://openalex.org/keywords/linear-matrix-inequality","display_name":"Linear matrix inequality","score":0.5286415219306946},{"id":"https://openalex.org/keywords/constrained-optimization","display_name":"Constrained optimization","score":0.5278967022895813},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4653720557689667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.29640141129493713},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07494312524795532}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7385909557342529},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.5780841708183289},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5772940516471863},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5699639320373535},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5474163293838501},{"id":"https://openalex.org/C201829737","wikidata":"https://www.wikidata.org/wiki/Q2022760","display_name":"Linear matrix inequality","level":2,"score":0.5286415219306946},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.5278967022895813},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4653720557689667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.29640141129493713},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07494312524795532},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2019.2902679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2019.2902679","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.550000011920929,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1491231144","https://openalex.org/W1547135986","https://openalex.org/W1547820487","https://openalex.org/W1968917201","https://openalex.org/W1971763119","https://openalex.org/W1974195236","https://openalex.org/W1999345491","https://openalex.org/W2013002270","https://openalex.org/W2021119398","https://openalex.org/W2026891225","https://openalex.org/W2041339162","https://openalex.org/W2072551631","https://openalex.org/W2094227853","https://openalex.org/W2097380438","https://openalex.org/W2099370259","https://openalex.org/W2105934661","https://openalex.org/W2116826317","https://openalex.org/W2117102490","https://openalex.org/W2118160709","https://openalex.org/W2121990344","https://openalex.org/W2122512809","https://openalex.org/W2128203095","https://openalex.org/W2133902258","https://openalex.org/W2136907406","https://openalex.org/W2143320181","https://openalex.org/W2146775457","https://openalex.org/W2155653863","https://openalex.org/W2156513118","https://openalex.org/W2166055403","https://openalex.org/W2316001447","https://openalex.org/W2503900448","https://openalex.org/W2536620281","https://openalex.org/W2610458755","https://openalex.org/W2763651857","https://openalex.org/W2766680116","https://openalex.org/W2773401559","https://openalex.org/W2790374560","https://openalex.org/W2886130969","https://openalex.org/W3210839039","https://openalex.org/W6681350822","https://openalex.org/W6763778141"],"related_works":["https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W1035502194","https://openalex.org/W4206024512","https://openalex.org/W2182059946","https://openalex.org/W2966342863","https://openalex.org/W2483158495","https://openalex.org/W2164404293","https://openalex.org/W2053335193","https://openalex.org/W1573859018"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"nonlinear":[3],"state":[4,64,161],"estimation":[5,79,98],"subject":[6,49],"to":[7,26,35,50,71,139],"inequality":[8,155],"constraints":[9,156],"in":[10,83,108,129],"the":[11,19,28,32,63,72,84,113,143,160,164,168],"form":[12],"of":[13,112],"linear":[14,46],"and":[15,89,106,116,136,147],"linear-matrix":[16],"inequalities.":[17],"Rewriting":[18],"standard":[20],"maximum":[21],"likelihood":[22],"objective":[23,47],"function":[24,48],"used":[25],"derive":[27],"Kalman":[29,33,86,92],"filter":[30,87,93],"allows":[31],"gain":[34],"be":[36],"found":[37],"by":[38,97,157],"solving":[39],"a":[40,45,51,101,124,130],"constrained":[41,73,78,114,131,165],"optimization":[42,74],"problem":[43],"with":[44],"linear-matrix-inequality":[52],"constraint.":[53],"Additional":[54],"constraints,":[55,61],"such":[56],"as":[57,149,151],"weighted-norm-":[58],"or":[59],"linear-inequality":[60],"that":[62,103,141,153],"estimate":[65,162],"must":[66],"satisfy":[67],"are":[68,119,134,137],"easily":[69],"augmented":[70],"problem.":[75],"The":[76],"proposed":[77],"methodology":[80],"is":[81],"applied":[82],"extended":[85],"(EKF)":[88],"sigma":[90],"point":[91],"(SPKF)":[94],"frameworks.":[95],"Motivated":[96],"problems":[99],"involving":[100],"vehicle":[102],"can":[104],"rotate":[105],"translate":[107],"space,":[109],"multiplicative":[110,145],"versions":[111],"EKF":[115,146],"SPKF":[117],"formulations":[118],"discussed.":[120],"Simulation":[121],"results":[122,140],"for":[123],"ground-based":[125],"mobile":[126],"robot":[127],"operating":[128],"three-dimensional":[132],"terrain":[133],"presented":[135],"compared":[138],"use":[142],"traditional":[144],"SPKF,":[148],"well":[150],"filters":[152],"enforce":[154],"simply":[158],"projecting":[159],"into":[163],"domain":[166],"along":[167],"shortest":[169],"Euclidean":[170],"distance.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
