{"id":"https://openalex.org/W4301251701","doi":"https://doi.org/10.1109/taes.2022.3197726","title":"Log-linear Error State Model Derivation without Approximation for INS","display_name":"Log-linear Error State Model Derivation without Approximation for INS","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4301251701","doi":"https://doi.org/10.1109/taes.2022.3197726"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2022.3197726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2022.3197726","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/A5040264433","display_name":"Lubin Chang","orcid":"https://orcid.org/0000-0002-6705-3401"},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lubin Chang","raw_affiliation_strings":["College of Electrical Engineering, Naval University of Engineering, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Naval University of Engineering, Wuhan, China","institution_ids":["https://openalex.org/I2800710378"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030613989","display_name":"Yarong Luo","orcid":"https://orcid.org/0000-0001-6840-4800"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yarong Luo","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5040264433"],"corresponding_institution_ids":["https://openalex.org/I2800710378"],"apc_list":null,"apc_paid":null,"fwci":10.1625,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.98056733,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998999834060669,"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":0.9998999834060669,"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/T10655","display_name":"GNSS positioning and interference","score":0.991100013256073,"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":0.9864000082015991,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.6159694194793701},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5856974124908447},{"id":"https://openalex.org/keywords/logarithm","display_name":"Logarithm","score":0.5564591288566589},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.5406920313835144},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.44299155473709106},{"id":"https://openalex.org/keywords/lie-group","display_name":"Lie group","score":0.4409412741661072},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.4255185127258301},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.29379570484161377},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.2817787230014801},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.17644700407981873}],"concepts":[{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.6159694194793701},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5856974124908447},{"id":"https://openalex.org/C39927690","wikidata":"https://www.wikidata.org/wiki/Q11197","display_name":"Logarithm","level":2,"score":0.5564591288566589},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.5406920313835144},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.44299155473709106},{"id":"https://openalex.org/C187915474","wikidata":"https://www.wikidata.org/wiki/Q622679","display_name":"Lie group","level":2,"score":0.4409412741661072},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.4255185127258301},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.29379570484161377},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2817787230014801},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.17644700407981873},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2022.3197726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2022.3197726","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":[],"awards":[{"id":"https://openalex.org/G3179765631","display_name":null,"funder_award_id":"61873275","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1579438189","https://openalex.org/W1943808550","https://openalex.org/W2069693317","https://openalex.org/W2139511704","https://openalex.org/W2141187831","https://openalex.org/W2165199328","https://openalex.org/W2279625569","https://openalex.org/W2395202693","https://openalex.org/W2482726005","https://openalex.org/W2776443693","https://openalex.org/W2793832680","https://openalex.org/W2900470576","https://openalex.org/W2948103149","https://openalex.org/W3000625188","https://openalex.org/W3016307421","https://openalex.org/W3101777406","https://openalex.org/W3125449081","https://openalex.org/W3131326783","https://openalex.org/W3131767536","https://openalex.org/W3136671688","https://openalex.org/W3145963815","https://openalex.org/W3173753247","https://openalex.org/W3194145151","https://openalex.org/W3211710592","https://openalex.org/W4206907900","https://openalex.org/W6695250641","https://openalex.org/W6802357680","https://openalex.org/W6803563365"],"related_works":["https://openalex.org/W2553468687","https://openalex.org/W2038416447","https://openalex.org/W2046736294","https://openalex.org/W2364151838","https://openalex.org/W4401442391","https://openalex.org/W2980815195","https://openalex.org/W48199998","https://openalex.org/W2953137247","https://openalex.org/W1519526186","https://openalex.org/W2066926363"],"abstract_inverted_index":{"Through":[0],"assembling":[1],"the":[2,10,26,61,93,103,127,136,139],"navigation":[3,13,27],"parameters":[4],"as":[5],"matrix":[6,119],"Lie":[7,23,120],"group":[8,121],"state,":[9],"corresponding":[11],"inertial":[12],"system":[14],"(INS)":[15],"kinematic":[16],"model":[17,141],"possesses":[18],"a":[19,32],"group-affine":[20],"property.":[21],"The":[22],"logarithm":[24],"of":[25,138],"state":[28],"estimation":[29],"error":[30,104,112],"satisfies":[31],"log-linear":[33,38,62,94,140],"autonomous":[34],"differential":[35],"equation.":[36],"These":[37],"models":[39,63,95],"are":[40,64,116],"still":[41],"applicable":[42],"even":[43],"with":[44,83,144],"arbitrarily":[45,145],"large":[46,84,146],"initial":[47,55,81,147],"errors,":[48],"which":[49,72],"is":[50,90],"very":[51],"attractive":[52],"for":[53,106,126,135],"INS":[54,80],"alignment.":[56],"However,":[57],"in":[58,79,113,118,142],"existing":[59],"works,":[60],"all":[65],"derived":[66,99],"based":[67],"on":[68],"first-order":[69],"linearization":[70],"approximation,":[71,102],"seemingly":[73],"goes":[74],"against":[75],"their":[76],"successful":[77],"applications":[78],"alignment":[82],"misalignments.":[85],"In":[86],"this":[87],"work,":[88],"it":[89],"shown":[91],"that":[92],"can":[96],"also":[97],"be":[98],"without":[100],"any":[101],"dynamics":[105],"both":[107],"left":[108],"and":[109],"right":[110],"invariant":[111],"continuous":[114],"time":[115],"given":[117],"<inline-formula><tex-math":[122],"notation=\"LaTeX\">$\\mathrm{S}{\\mathrm{E}}_2(":[123],"3":[124],")$</tex-math></inline-formula>":[125],"first":[128],"time.":[129],"This":[130],"work":[131],"provides":[132],"another":[133],"evidence":[134],"validity":[137],"situations":[143],"errors.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
