{"id":"https://openalex.org/W4388915665","doi":"https://doi.org/10.1109/tencon58879.2023.10322496","title":"Sensor Fusion Using Error-State Kalman Filter to Improve Localization of Autonomous Underwater Vehicle Under DVL Signal Loss","display_name":"Sensor Fusion Using Error-State Kalman Filter to Improve Localization of Autonomous Underwater Vehicle Under DVL Signal Loss","publication_year":2023,"publication_date":"2023-10-31","ids":{"openalex":"https://openalex.org/W4388915665","doi":"https://doi.org/10.1109/tencon58879.2023.10322496"},"language":"en","primary_location":{"id":"doi:10.1109/tencon58879.2023.10322496","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/tencon58879.2023.10322496","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TENCON 2023 - 2023 IEEE Region 10 Conference (TENCON)","raw_type":"proceedings-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/A5093318844","display_name":"Akira Techapattaraporn","orcid":null},"institutions":[{"id":"https://openalex.org/I198105771","display_name":"Kasetsart University","ror":"https://ror.org/05gzceg21","country_code":"TH","type":"education","lineage":["https://openalex.org/I198105771"]}],"countries":["TH"],"is_corresponding":true,"raw_author_name":"Akira Techapattaraporn","raw_affiliation_strings":["Kasetsart University,Faculty of Engineering,Department of Electrical Engineering,Bangkok,Thailand,10903"],"affiliations":[{"raw_affiliation_string":"Kasetsart University,Faculty of Engineering,Department of Electrical Engineering,Bangkok,Thailand,10903","institution_ids":["https://openalex.org/I198105771"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093318845","display_name":"Vasutorn Siriyakorn","orcid":"https://orcid.org/0009-0008-6929-1455"},"institutions":[{"id":"https://openalex.org/I198105771","display_name":"Kasetsart University","ror":"https://ror.org/05gzceg21","country_code":"TH","type":"education","lineage":["https://openalex.org/I198105771"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Vasutorn Siriyakorn","raw_affiliation_strings":["Kasetsart University,Faculty of Engineering,Department of Electrical Engineering,Bangkok,Thailand,10903"],"affiliations":[{"raw_affiliation_string":"Kasetsart University,Faculty of Engineering,Department of Electrical Engineering,Bangkok,Thailand,10903","institution_ids":["https://openalex.org/I198105771"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055510572","display_name":"Peerayot Sanposh","orcid":"https://orcid.org/0000-0003-1129-1862"},"institutions":[{"id":"https://openalex.org/I198105771","display_name":"Kasetsart University","ror":"https://ror.org/05gzceg21","country_code":"TH","type":"education","lineage":["https://openalex.org/I198105771"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Peerayot Sanposh","raw_affiliation_strings":["Kasetsart University,Faculty of Engineering,Department of Electrical Engineering,Bangkok,Thailand,10903"],"affiliations":[{"raw_affiliation_string":"Kasetsart University,Faculty of Engineering,Department of Electrical Engineering,Bangkok,Thailand,10903","institution_ids":["https://openalex.org/I198105771"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031714635","display_name":"Y. Tipsuwan","orcid":"https://orcid.org/0000-0002-8957-6369"},"institutions":[{"id":"https://openalex.org/I198105771","display_name":"Kasetsart University","ror":"https://ror.org/05gzceg21","country_code":"TH","type":"education","lineage":["https://openalex.org/I198105771"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Yodyium Tipsuwan","raw_affiliation_strings":["Kasetsart University,Faculty of Engineering,Department of Computer Engineering,Bangkok,Thailand,10903"],"affiliations":[{"raw_affiliation_string":"Kasetsart University,Faculty of Engineering,Department of Computer Engineering,Bangkok,Thailand,10903","institution_ids":["https://openalex.org/I198105771"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086460192","display_name":"Teerasit Kasetkasem","orcid":"https://orcid.org/0000-0002-8871-9284"},"institutions":[{"id":"https://openalex.org/I198105771","display_name":"Kasetsart University","ror":"https://ror.org/05gzceg21","country_code":"TH","type":"education","lineage":["https://openalex.org/I198105771"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Teerasit Kasetkasem","raw_affiliation_strings":["Kasetsart University,Faculty of Engineering,Department of Electrical Engineering,Bangkok,Thailand,10903"],"affiliations":[{"raw_affiliation_string":"Kasetsart University,Faculty of Engineering,Department of Electrical Engineering,Bangkok,Thailand,10903","institution_ids":["https://openalex.org/I198105771"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028897283","display_name":"Weerawut Charubhun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Weerawut Charubhun","raw_affiliation_strings":["Weerawut Charubhun with Rovula (Thailand) Co., Ltd.,Bangkok,Thailand,10120"],"affiliations":[{"raw_affiliation_string":"Weerawut Charubhun with Rovula (Thailand) Co., Ltd.,Bangkok,Thailand,10120","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5093318844"],"corresponding_institution_ids":["https://openalex.org/I198105771"],"apc_list":null,"apc_paid":null,"fwci":0.1748,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.57842029,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"893","last_page":"898"},"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":0.9994999766349792,"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":0.9994999766349792,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9976999759674072,"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/kalman-filter","display_name":"Kalman filter","score":0.8058147430419922},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7828830480575562},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7292119860649109},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.7153763771057129},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6020791530609131},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5392033457756042},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.5171027183532715},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.47609269618988037},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.47373688220977783},{"id":"https://openalex.org/keywords/unmanned-underwater-vehicle","display_name":"Unmanned underwater vehicle","score":0.4680124521255493},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4495408535003662},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4225737452507019},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3626927435398102},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33366668224334717},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31279972195625305},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.3079322874546051},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2628174424171448},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15460532903671265},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07763585448265076}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.8058147430419922},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7828830480575562},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7292119860649109},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.7153763771057129},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6020791530609131},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5392033457756042},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.5171027183532715},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.47609269618988037},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.47373688220977783},{"id":"https://openalex.org/C2778740559","wikidata":"https://www.wikidata.org/wiki/Q2496586","display_name":"Unmanned underwater vehicle","level":3,"score":0.4680124521255493},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4495408535003662},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4225737452507019},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3626927435398102},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33366668224334717},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31279972195625305},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.3079322874546051},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2628174424171448},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15460532903671265},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07763585448265076},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tencon58879.2023.10322496","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/tencon58879.2023.10322496","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TENCON 2023 - 2023 IEEE Region 10 Conference (TENCON)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7900000214576721,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322722","display_name":"Kasetsart University","ror":"https://ror.org/05gzceg21"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W595252221","https://openalex.org/W2100600017","https://openalex.org/W2296267969","https://openalex.org/W2768018028","https://openalex.org/W3026829485","https://openalex.org/W3215609958","https://openalex.org/W4320038180"],"related_works":["https://openalex.org/W4247347568","https://openalex.org/W4250716077","https://openalex.org/W4313886815","https://openalex.org/W2024124515","https://openalex.org/W2773722138","https://openalex.org/W2038183074","https://openalex.org/W2382856674","https://openalex.org/W4300961947","https://openalex.org/W2415234998","https://openalex.org/W23037264"],"abstract_inverted_index":{"This":[0],"paper":[1],"concerns":[2],"the":[3,8,33,45,48,63,69,83,98,113,117],"development":[4],"and":[5,66,95,104,122],"improvement":[6],"of":[7,28,40,50,85,90,112],"underwater":[9,135],"navigation":[10],"system":[11],"for":[12,132],"Autonomous":[13],"Underwater":[14],"Vehicles":[15],"(AUVs)":[16],"when":[17],"faced":[18],"with":[19],"velocity-aiding":[20],"sensor":[21,29],"failures.":[22],"The":[23,57,110],"study":[24],"addresses":[25],"this":[26],"challenge":[27],"fusion":[30],"by":[31],"applying":[32],"Error-State":[34],"Kalman":[35,106],"Filter":[36,107],"(ESKF),":[37],"a":[38,88],"form":[39],"indirect":[41],"state":[42,129],"filtering.":[43],"Specifically,":[44],"ESKF":[46,118],"targets":[47],"limitations":[49],"velocity":[51,86],"measurements":[52],"encountered":[53],"during":[54],"near-bottom":[55],"operations.":[56],"proposed":[58],"method":[59],"was":[60],"applied":[61],"to":[62],"Xplorer-Mini":[64],"AUV":[65],"evaluated":[67],"using":[68],"Gazebo":[70],"physics":[71],"engine":[72],"simulator":[73],"in":[74,81,137],"ROS":[75],"2.":[76],"To":[77],"assess":[78],"its":[79],"performance":[80],"handling":[82],"loss":[84],"signals,":[87],"series":[89],"simulation-based":[91],"experiments":[92,114],"were":[93],"conducted":[94],"compared":[96],"against":[97],"traditional":[99,120],"Inertial":[100],"Navigation":[101],"System":[102],"(INS)":[103],"Extended":[105],"(EKF)":[108],"algorithms.":[109],"results":[111],"demonstrate":[115],"that":[116],"outperforms":[119],"INS":[121],"EKF":[123],"algorithms,":[124],"offering":[125],"valuable":[126],"insights":[127],"into":[128],"estimation":[130],"techniques":[131],"developing":[133],"autonomous":[134],"vehicles":[136],"challenging":[138],"environments.":[139]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}