{"id":"https://openalex.org/W4410491905","doi":"https://doi.org/10.1109/tcst.2025.3564884","title":"An Invariant Extended Kalman Filter for Wind Estimation Using a Small, Fixed-Wing Uncrewed Aerial Vehicle","display_name":"An Invariant Extended Kalman Filter for Wind Estimation Using a Small, Fixed-Wing Uncrewed Aerial Vehicle","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4410491905","doi":"https://doi.org/10.1109/tcst.2025.3564884"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2025.3564884","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3564884","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/A5027544531","display_name":"Zakia Ahmed","orcid":"https://orcid.org/0000-0002-8509-0580"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zakia Ahmed","raw_affiliation_strings":["Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8509-0580","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025725331","display_name":"Craig A. Woolsey","orcid":"https://orcid.org/0000-0003-3483-7135"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Craig A. Woolsey","raw_affiliation_strings":["Kevin T. Crofton Department of Aerospace and Ocean Engineering, Blacksburg, VA, USA"],"raw_orcid":"https://orcid.org/0000-0003-3483-7135","affiliations":[{"raw_affiliation_string":"Kevin T. Crofton Department of Aerospace and Ocean Engineering, Blacksburg, VA, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.6408,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.94844749,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"33","issue":"5","first_page":"1799","last_page":"1809"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12125","display_name":"Aerospace and Aviation Technology","score":0.9986000061035156,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.9986000061035156,"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":0.9815000295639038,"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":0.9807000160217285,"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/fixed-wing","display_name":"Fixed wing","score":0.806070864200592},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7621047496795654},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5418977737426758},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5417582988739014},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.47068196535110474},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4665026068687439},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.45615991950035095},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40663832426071167},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3985397219657898},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3061869740486145},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2187078297138214},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1642577350139618},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0648689866065979}],"concepts":[{"id":"https://openalex.org/C3018522811","wikidata":"https://www.wikidata.org/wiki/Q2875704","display_name":"Fixed wing","level":3,"score":0.806070864200592},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7621047496795654},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5418977737426758},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5417582988739014},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.47068196535110474},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4665026068687439},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.45615991950035095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40663832426071167},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3985397219657898},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3061869740486145},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2187078297138214},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1642577350139618},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0648689866065979},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2025.3564884","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3564884","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8399999737739563,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W290527292","https://openalex.org/W1580779066","https://openalex.org/W1639331959","https://openalex.org/W1971927560","https://openalex.org/W1975454884","https://openalex.org/W2051536971","https://openalex.org/W2107929215","https://openalex.org/W2134577927","https://openalex.org/W2136517446","https://openalex.org/W2137448549","https://openalex.org/W2140165024","https://openalex.org/W2159254987","https://openalex.org/W2169772828","https://openalex.org/W2213102374","https://openalex.org/W2332682439","https://openalex.org/W2569515743","https://openalex.org/W2605268294","https://openalex.org/W2781581737","https://openalex.org/W2889999942","https://openalex.org/W2892985288","https://openalex.org/W2898346264","https://openalex.org/W2905273162","https://openalex.org/W2944507745","https://openalex.org/W2970662254","https://openalex.org/W2980266231","https://openalex.org/W3009903184","https://openalex.org/W3030739149","https://openalex.org/W3120637396","https://openalex.org/W3120765265","https://openalex.org/W3127919649","https://openalex.org/W3128119519","https://openalex.org/W3130146097","https://openalex.org/W4220707029","https://openalex.org/W4294691971","https://openalex.org/W4310480302","https://openalex.org/W4313118695","https://openalex.org/W4317632351","https://openalex.org/W4380591646","https://openalex.org/W4388322878","https://openalex.org/W4391328285","https://openalex.org/W4396722490","https://openalex.org/W4400658480","https://openalex.org/W6739646375","https://openalex.org/W6841234481"],"related_works":["https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W1035502194","https://openalex.org/W4206024512","https://openalex.org/W2164404293","https://openalex.org/W2053335193","https://openalex.org/W2182059946","https://openalex.org/W4300476109","https://openalex.org/W2772311278","https://openalex.org/W4205759170"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"the":[3,30,40,49,53,68,92,106,147,171,174],"design":[4],"and":[5,72,96,128,164],"implementation":[6],"of":[7,57,155],"an":[8,65,85,153],"invariant":[9,45,86,107,175],"extended":[10,33,93],"Kalman":[11],"filter":[12],"(EKF)":[13],"for":[14,39,91,118],"wind":[15,41,135,141,182],"estimation":[16,183],"using":[17,114,144],"a":[18,36,115,178],"small,":[19],"fixed-wing":[20],"uncrewed":[21],"aerial":[22],"vehicle":[23],"(UAV).":[24],"First,":[25],"it":[26],"is":[27,61,74,88,97],"shown":[28,63],"that":[29,64,173],"UAV\u2019s":[31],"dynamics,":[32,43],"to":[34,48],"include":[35],"trivial":[37],"model":[38],"velocity":[42],"are":[44,109,137],"with":[46,76,111,140],"respect":[47,77],"Lie":[50],"group$\\text":[51],"{SE}(3)$,":[52],"special":[54],"Euclidean":[55],"group":[56],"rigid":[58],"transformations.":[59],"It":[60],"also":[62],"output":[66],"comprising":[67,152],"vehicle\u2019s":[69],"inertial":[70],"state":[71,94],"airspeed":[73],"equivariant":[75],"to$\\text":[78],"{SE}(3)$.":[79],"Based":[80],"on":[81,99],"these":[82],"analysis":[83],"results,":[84],"EKF":[87,108,117,176,180],"then":[89,138],"designed":[90],"equations":[95],"implemented":[98],"experimental":[100,168],"flight":[101],"data.":[102],"Wind":[103],"estimates":[104,112,136],"from":[105,146],"compared":[110,139],"obtained":[113,134],"conventional":[116,179],"two":[119],"nominal":[120],"aircraft":[121],"motions:":[122],"constant":[123,129],"altitude,":[124],"wings":[125],"level":[126],"flight,":[127],"altitude":[130],"turning":[131],"flight.":[132],"The":[133,167],"measurements":[142],"reconstructed":[143],"data":[145,150],"aircraft\u2019s":[148],"air":[149],"unit":[151],"angle":[154,161],"attack":[156],"(AoA)":[157],"flow":[158,162],"vane,":[159,163],"flank":[160],"Kiel":[165],"probe.":[166],"results":[169],"corroborate":[170],"expectation":[172],"outperforms":[177],"in":[181],"accuracy.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
