{"id":"https://openalex.org/W2344953603","doi":"https://doi.org/10.1109/tcst.2015.2488597","title":"Adaptive EKF-Based Vehicle State Estimation With Online Assessment of Local Observability","display_name":"Adaptive EKF-Based Vehicle State Estimation With Online Assessment of Local Observability","publication_year":2015,"publication_date":"2015-10-30","ids":{"openalex":"https://openalex.org/W2344953603","doi":"https://doi.org/10.1109/tcst.2015.2488597","mag":"2344953603"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2015.2488597","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2015.2488597","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5083973713","display_name":"Alexander Katriniok","orcid":"https://orcid.org/0000-0003-1137-7885"},"institutions":[{"id":"https://openalex.org/I1319473763","display_name":"Volkswagen Group (Germany)","ror":"https://ror.org/01f3bhg26","country_code":"DE","type":"company","lineage":["https://openalex.org/I1319473763"]},{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Katriniok","raw_affiliation_strings":["Department of Mechanical Engineering, RWTH Aachen University, Aachen, Germany","Research and Development, Volkswagen AG, Wolfsburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]},{"raw_affiliation_string":"Research and Development, Volkswagen AG, Wolfsburg, Germany","institution_ids":["https://openalex.org/I1319473763"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029739081","display_name":"Dirk Abel","orcid":"https://orcid.org/0000-0003-0286-3654"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Abel","raw_affiliation_strings":["Department of Mechanical Engineering, RWTH Aachen University, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.7506,"has_fulltext":false,"cited_by_count":122,"citation_normalized_percentile":{"value":0.95937103,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"24","issue":"4","first_page":"1368","last_page":"1381"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9284087419509888},{"id":"https://openalex.org/keywords/unobservable","display_name":"Unobservable","score":0.7755956649780273},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7642861604690552},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6789448857307434},{"id":"https://openalex.org/keywords/yaw","display_name":"Yaw","score":0.6591958403587341},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6222215294837952},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5572741031646729},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5501176714897156},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.4946310222148895},{"id":"https://openalex.org/keywords/state-variable","display_name":"State variable","score":0.49076923727989197},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4814659655094147},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.47736120223999023},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3971339762210846},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34342753887176514},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.25817856192588806},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22878286242485046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11222970485687256},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.0797070860862732},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06885260343551636}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.9284087419509888},{"id":"https://openalex.org/C2780695315","wikidata":"https://www.wikidata.org/wiki/Q3799040","display_name":"Unobservable","level":2,"score":0.7755956649780273},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7642861604690552},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6789448857307434},{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.6591958403587341},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6222215294837952},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5572741031646729},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5501176714897156},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.4946310222148895},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.49076923727989197},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4814659655094147},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.47736120223999023},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3971339762210846},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34342753887176514},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.25817856192588806},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22878286242485046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11222970485687256},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0797070860862732},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06885260343551636},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2015.2488597","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2015.2488597","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:publications.rwth-aachen.de:679114","is_oa":false,"landing_page_url":"https://publications.rwth-aachen.de/record/679114","pdf_url":null,"source":{"id":"https://openalex.org/S4306401033","display_name":"RWTH Publications (RWTH Aachen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887968799","host_organization_name":"RWTH Aachen University","host_organization_lineage":["https://openalex.org/I887968799"],"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 control systems technology 24(4), 1368-1381 (2016). doi:10.1109/TCST.2015.2488597","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320329929","display_name":"Volkswagen Aktiengesellschaft","ror":"https://ror.org/01f3bhg26"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W80262643","https://openalex.org/W592904438","https://openalex.org/W1543750907","https://openalex.org/W1544016679","https://openalex.org/W1560307644","https://openalex.org/W1580244300","https://openalex.org/W1963777819","https://openalex.org/W1985892046","https://openalex.org/W1994993102","https://openalex.org/W1997237786","https://openalex.org/W1998509663","https://openalex.org/W2001079686","https://openalex.org/W2015614033","https://openalex.org/W2019954549","https://openalex.org/W2040570451","https://openalex.org/W2048357933","https://openalex.org/W2053786653","https://openalex.org/W2055228269","https://openalex.org/W2073910951","https://openalex.org/W2074172735","https://openalex.org/W2085638100","https://openalex.org/W2087471246","https://openalex.org/W2111351689","https://openalex.org/W2116518644","https://openalex.org/W2117453669","https://openalex.org/W2118374862","https://openalex.org/W2126910505","https://openalex.org/W2127017835","https://openalex.org/W2132570625","https://openalex.org/W2136981479","https://openalex.org/W2140998418","https://openalex.org/W2150235509","https://openalex.org/W2258998227","https://openalex.org/W2744834854","https://openalex.org/W2790374560","https://openalex.org/W2798909945","https://openalex.org/W4206713226","https://openalex.org/W4250151216","https://openalex.org/W4300831640","https://openalex.org/W4300995080","https://openalex.org/W4312258136","https://openalex.org/W6633450623","https://openalex.org/W6641107883","https://openalex.org/W6742641783"],"related_works":["https://openalex.org/W2149686805","https://openalex.org/W4294689033","https://openalex.org/W1978158123","https://openalex.org/W4226462367","https://openalex.org/W2967463586","https://openalex.org/W2082642870","https://openalex.org/W2378270039","https://openalex.org/W4367369716","https://openalex.org/W2148902373","https://openalex.org/W2115756888"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"an":[3,73],"extended":[4],"Kalman":[5],"filter-based":[6],"estimator":[7,144],"adopting":[8],"a":[9,55,84,98,111],"dynamic":[10],"vehicle":[11,154],"model":[12],"for":[13,46,131],"determining":[14],"the":[15,24,49,64,80,93,108,139,142,146,152],"vehicle's":[16],"longitudinal":[17,37],"and":[18,38,71],"lateral":[19,39],"velocity":[20,114],"as":[21,23,58,60,83,120,148,150],"well":[22,149],"yaw":[25],"rate":[26],"is":[27,62,95],"proposed.":[28],"Two":[29],"additional":[30],"adaptation":[31,75],"states":[32],"are":[33],"introduced":[34],"to":[35,44],"scale":[36],"tire":[40],"forces":[41],"if":[42],"necessary":[43],"account":[45],"uncertainties":[47],"in":[48,145,151],"tire/road":[50],"contact.":[51],"As":[52],"excitation":[53,137],"plays":[54],"vital":[56],"role":[57],"far":[59],"observability":[61,69],"concerned,":[63],"suggested":[65],"approach":[66],"assesses":[67],"local":[68,90],"online":[70],"keeps":[72],"unobservable":[74],"state":[76,82],"constant":[77],"by":[78],"introducing":[79],"respective":[81],"virtual":[85],"measurement":[86],"variable":[87],"when":[88],"losing":[89],"observability.":[91],"Furthermore,":[92],"filter":[94,158],"part":[96],"of":[97,110,117,126,136,141],"Global":[99],"Navigation":[100],"Satellite":[101],"System":[102],"(GNSS)-based":[103],"estimation":[104],"framework.":[105],"It":[106],"exploits":[107],"availability":[109],"GNSS-based":[112],"horizontal":[113],"estimate":[115],"instead":[116],"wheel":[118,127],"speeds":[119],"aiding":[121],"measurement,":[122],"thus":[123],"being":[124],"independent":[125],"slip.":[128],"Experimental":[129],"results":[130],"scenarios":[132],"with":[133],"different":[134],"kinds":[135],"show":[138],"effectiveness":[140],"proposed":[143],"nominal":[147],"perturbed":[153],"parameter":[155],"case":[156],"requiring":[157],"adaptation.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":19},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
