{"id":"https://openalex.org/W4400350543","doi":"https://doi.org/10.1109/tase.2024.3422081","title":"Accurate and Capable GNSS-Inertial-Visual Vehicle Navigation via Tightly Coupled Multiple Homogeneous Sensors","display_name":"Accurate and Capable GNSS-Inertial-Visual Vehicle Navigation via Tightly Coupled Multiple Homogeneous Sensors","publication_year":2024,"publication_date":"2024-07-05","ids":{"openalex":"https://openalex.org/W4400350543","doi":"https://doi.org/10.1109/tase.2024.3422081"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3422081","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3422081","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","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/A5042894854","display_name":"Zhiheng Shen","orcid":"https://orcid.org/0000-0001-5319-4839"},"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":true,"raw_author_name":"Zhiheng Shen","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100661809","display_name":"Xingxing Li","orcid":"https://orcid.org/0000-0002-0283-4151"},"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":"Xingxing Li","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018496820","display_name":"Yuxuan Zhou","orcid":"https://orcid.org/0000-0002-5261-0009"},"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":"Yuxuan Zhou","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053326378","display_name":"Shengyu Li","orcid":"https://orcid.org/0000-0003-4014-2524"},"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":"Shengyu Li","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078945468","display_name":"Zongzhou Wu","orcid":"https://orcid.org/0000-0002-3520-8456"},"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":"Zongzhou Wu","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065169238","display_name":"Xuanbin Wang","orcid":"https://orcid.org/0009-0004-0849-556X"},"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":"Xuanbin Wang","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5042894854"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":10.3966,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.97538639,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"5464","last_page":"5478"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9861000180244446,"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":0.9861000180244446,"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":0.9833999872207642,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9800000190734863,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/gnss-applications","display_name":"GNSS applications","score":0.7806298136711121},{"id":"https://openalex.org/keywords/homogeneous","display_name":"Homogeneous","score":0.5943825244903564},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5818955302238464},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5444984436035156},{"id":"https://openalex.org/keywords/air-navigation","display_name":"Air navigation","score":0.5243282914161682},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4817066788673401},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4331085681915283},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.43199294805526733},{"id":"https://openalex.org/keywords/wind-triangle","display_name":"Wind triangle","score":0.4273911118507385},{"id":"https://openalex.org/keywords/gnss-augmentation","display_name":"GNSS augmentation","score":0.4153570830821991},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.41230276226997375},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38829249143600464},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.2891738712787628},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2803950309753418},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2702789306640625},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.26691675186157227},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26038211584091187},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21278789639472961},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15423768758773804},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.0890527069568634},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08653309941291809}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7806298136711121},{"id":"https://openalex.org/C66882249","wikidata":"https://www.wikidata.org/wiki/Q169336","display_name":"Homogeneous","level":2,"score":0.5943825244903564},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5818955302238464},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5444984436035156},{"id":"https://openalex.org/C504623915","wikidata":"https://www.wikidata.org/wiki/Q1427822","display_name":"Air navigation","level":3,"score":0.5243282914161682},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4817066788673401},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4331085681915283},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.43199294805526733},{"id":"https://openalex.org/C178001088","wikidata":"https://www.wikidata.org/wiki/Q2583453","display_name":"Wind triangle","level":5,"score":0.4273911118507385},{"id":"https://openalex.org/C166212672","wikidata":"https://www.wikidata.org/wiki/Q2165162","display_name":"GNSS augmentation","level":4,"score":0.4153570830821991},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.41230276226997375},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38829249143600464},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.2891738712787628},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2803950309753418},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2702789306640625},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.26691675186157227},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26038211584091187},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21278789639472961},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15423768758773804},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.0890527069568634},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08653309941291809},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2024.3422081","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3422081","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7400000095367432,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G4234997300","display_name":null,"funder_award_id":"2023YFB3907100","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W929010746","https://openalex.org/W1535176033","https://openalex.org/W1998058414","https://openalex.org/W2025819547","https://openalex.org/W2118223742","https://openalex.org/W2134691634","https://openalex.org/W2158090912","https://openalex.org/W2160685053","https://openalex.org/W2165421589","https://openalex.org/W2168974696","https://openalex.org/W2402167963","https://openalex.org/W2418849765","https://openalex.org/W2474281075","https://openalex.org/W2573739355","https://openalex.org/W2745007981","https://openalex.org/W2745859992","https://openalex.org/W2790185474","https://openalex.org/W2791639158","https://openalex.org/W2844111606","https://openalex.org/W2885750104","https://openalex.org/W2892628995","https://openalex.org/W2908305534","https://openalex.org/W2922457702","https://openalex.org/W2970278694","https://openalex.org/W2977982730","https://openalex.org/W3004276482","https://openalex.org/W3032120116","https://openalex.org/W3091667825","https://openalex.org/W3094256908","https://openalex.org/W3096659405","https://openalex.org/W3096949215","https://openalex.org/W3108666777","https://openalex.org/W3128400661","https://openalex.org/W3131244788","https://openalex.org/W3134432446","https://openalex.org/W3138764046","https://openalex.org/W3162423126","https://openalex.org/W3217619902","https://openalex.org/W4206728090","https://openalex.org/W4206790194","https://openalex.org/W4285194770","https://openalex.org/W4293057201","https://openalex.org/W4312227745","https://openalex.org/W4313449032","https://openalex.org/W4376503862","https://openalex.org/W4378421887","https://openalex.org/W4379116806","https://openalex.org/W4387587515","https://openalex.org/W4389169181","https://openalex.org/W4392061569","https://openalex.org/W4395027642","https://openalex.org/W6677548441","https://openalex.org/W6683725957","https://openalex.org/W6688282398","https://openalex.org/W6800175990","https://openalex.org/W6801027599","https://openalex.org/W6864527971"],"related_works":["https://openalex.org/W2765514429","https://openalex.org/W802388050","https://openalex.org/W1940389892","https://openalex.org/W2389062715","https://openalex.org/W2393713006","https://openalex.org/W2373709444","https://openalex.org/W4376603116","https://openalex.org/W2356970141","https://openalex.org/W2377925798","https://openalex.org/W2148048835"],"abstract_inverted_index":{"Continuous":[0],"and":[1,36,52,79,97,102,130,147,224,236,263,282,297,307,331,352,356,362,369],"reliable":[2],"estimation":[3,189,210,222,355],"of":[4,8,16,91,150,190,226,233,294,303,324,328,342],"navigation":[5,22,26,313],"states":[6,170],"is":[7,115,357],"paramount":[9],"importance":[10],"in":[11,153,205,239,274,310],"ensuring":[12,145],"the":[13,30,113,124,142,151,169,178,187,191,198,212,220,227,247,291,301,334,340],"safe":[14],"operation":[15],"intelligent":[17],"vehicles.":[18],"The":[19,128,157,243],"conventional":[20,281],"global":[21,155],"satellite":[23,46],"system":[24,65,85,152,192,249],"(GNSS)-Inertial-Visual":[25],"systems":[27],"have":[28],"demonstrated":[29],"capability":[31],"to":[32,63,99,117,167,286,349,359],"achieve":[33,251,350],"locally":[34],"accurate":[35,101,146,351],"globally":[37,80],"drift-free":[38,81],"pose":[39],"estimation.":[40],"However,":[41],"challenges":[42,309],"such":[43],"as":[44,343,347],"frequent":[45,305],"signal":[47],"interference,":[48],"limited":[49],"visual":[50],"features,":[51],"sudden":[53],"sensor":[54,70,345,363],"failures":[55],"can":[56,87,182,250],"severely":[57],"degrade":[58],"performance":[59],"or":[60],"even":[61],"lead":[62],"complete":[64],"collapse":[66],"when":[67,211],"utilizing":[68],"minimal":[69],"configurations.":[71],"For":[72],"this":[73],"reason,":[74],"we":[75],"propose":[76,316],"a":[77,107,154,231,255,267,317],"novel":[78],"tightly":[82],"coupled":[83,321],"(TC)":[84],"that":[86,246,374],"integrate":[88],"any":[89,326],"number":[90,327],"GNSS,":[92,329],"inertial":[93],"measurement":[94,126,336],"units":[95],"(IMUs),":[96],"cameras":[98,163,332],"enable":[100],"robust":[103,353],"vehicle":[104,312],"navigation.":[105],"Specifically,":[106],"stacked":[108],"state":[109,188,209,221,354],"estimator":[110],"centered":[111],"on":[112,197,290],"IMU":[114,214],"designed":[116],"fuse":[118],"information":[119,346],"from":[120,134,160],"all":[121,135],"sensors":[122,299],"at":[123,333],"raw":[125,335],"level.":[127,337],"pseudorange":[129],"carrier":[131],"phase":[132],"measurements":[133,159,361],"GNSS":[136],"terminals":[137],"are":[138,164,215,375],"directly":[139],"correlated":[140],"with":[141,254,266,300,379],"core":[143,199,213],"IMU,":[144,200],"fast":[148],"positioning":[149],"frame.":[156],"feature":[158],"multiple":[161,179,295,380],"independent":[162],"also":[165,202],"used":[166],"update":[168],"by":[171,193],"exploiting":[172],"inter-epoch":[173],"geometric":[174],"constraints.":[175],"In":[176],"addition,":[177],"homogeneous":[180,296],"IMUs":[181],"not":[183],"only":[184],"further":[185],"improve":[186],"imposing":[194],"rigid":[195],"constraints":[196],"but":[201],"switch":[203],"over":[204],"time":[206],"for":[207,371],"smooth":[208],"faulty.":[216],"We":[217,315],"comprehensively":[218],"evaluate":[219],"accuracy":[223],"robustness":[225],"proposed":[228,248],"approach":[229],"through":[230],"series":[232],"in-vehicle":[234],"experiments":[235,238],"simulation":[237],"real":[240],"urban":[241,276],"scenarios.":[242],"results":[244],"indicate":[245],"93.2%":[252],"availability":[253,265],"horizontal":[256],"position":[257],"error":[258,269],"less":[259,270],"than":[260,271],"0.5":[261],"m":[262],"97.8%":[264],"heading":[268],"0.2":[272],"deg":[273],"typical":[275],"environments,":[277],"significantly":[278],"outperforming":[279],"both":[280],"state-of-the-art":[283],"approaches.":[284],"Note":[285],"Practitioners\u2014This":[287],"study":[288],"focuses":[289],"tight":[292,320],"integration":[293],"heterogeneous":[298],"goal":[302],"addressing":[304],"interference":[306],"degradation":[308],"wide-area":[311],"applications.":[314],"general-purpose":[318],"GNSS-Inertial-Visual":[319],"framework":[322],"capable":[323],"integrating":[325],"IMUs,":[330],"It":[338],"maximizes":[339],"use":[341],"much":[344],"possible":[348],"resilient":[358],"anomalous":[360],"unavailability.":[364],"This":[365],"solution":[366],"holds":[367],"practical":[368],"effective":[370],"autonomous":[372],"vehicles":[373],"now":[376],"commonly":[377],"equipped":[378],"sensors.":[381]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}