{"id":"https://openalex.org/W2735943270","doi":"https://doi.org/10.1109/tie.2017.2726958","title":"Compensated Heading Angles for Outdoor Mobile Robots in Magnetically Disturbed Environment","display_name":"Compensated Heading Angles for Outdoor Mobile Robots in Magnetically Disturbed Environment","publication_year":2017,"publication_date":"2017-07-17","ids":{"openalex":"https://openalex.org/W2735943270","doi":"https://doi.org/10.1109/tie.2017.2726958","mag":"2735943270"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2017.2726958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2017.2726958","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5086869323","display_name":"Jehong Lee","orcid":"https://orcid.org/0000-0001-8797-9618"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jehong Lee","raw_affiliation_strings":["School of Mechanical Engineering, Gwangju Institute of Science and Technology, Gwangju, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Gwangju Institute of Science and Technology, Gwangju, South Korea","institution_ids":["https://openalex.org/I39534123"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070841156","display_name":"Jeonggeun Lim","orcid":"https://orcid.org/0000-0003-0470-573X"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeonggeun Lim","raw_affiliation_strings":["School of Mechanical Engineering, Gwangju Institute of Science and Technology, Gwangju, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Gwangju Institute of Science and Technology, Gwangju, South Korea","institution_ids":["https://openalex.org/I39534123"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100423380","display_name":"Jongho Lee","orcid":"https://orcid.org/0000-0003-0398-4220"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jongho Lee","raw_affiliation_strings":["School of Mechanical Engineering, Gwangju Institute of Science and Technology, Gwangju, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Gwangju Institute of Science and Technology, Gwangju, South Korea","institution_ids":["https://openalex.org/I39534123"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5086869323"],"corresponding_institution_ids":["https://openalex.org/I39534123"],"apc_list":null,"apc_paid":null,"fwci":9.7989,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.97748419,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"65","issue":"2","first_page":"1408","last_page":"1419"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9990000128746033,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/heading","display_name":"Heading (navigation)","score":0.8949998617172241},{"id":"https://openalex.org/keywords/earths-magnetic-field","display_name":"Earth's magnetic field","score":0.7700567245483398},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7226317524909973},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6345459818840027},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5603106617927551},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5535562038421631},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5258163213729858},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4605604112148285},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4079899489879608},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4065648913383484},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.40361279249191284},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3444285988807678},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.299924373626709},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16113734245300293},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.13138985633850098}],"concepts":[{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.8949998617172241},{"id":"https://openalex.org/C199635899","wikidata":"https://www.wikidata.org/wiki/Q6500960","display_name":"Earth's magnetic field","level":3,"score":0.7700567245483398},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7226317524909973},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6345459818840027},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5603106617927551},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5535562038421631},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5258163213729858},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4605604112148285},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4079899489879608},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4065648913383484},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.40361279249191284},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3444285988807678},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.299924373626709},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16113734245300293},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.13138985633850098},{"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/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/tie.2017.2726958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2017.2726958","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G763170948","display_name":null,"funder_award_id":"NRF-2016R1A2B4012854","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W201680239","https://openalex.org/W1527786550","https://openalex.org/W1536605810","https://openalex.org/W1564768010","https://openalex.org/W1964180977","https://openalex.org/W1974672376","https://openalex.org/W1974774805","https://openalex.org/W1978141579","https://openalex.org/W1986302906","https://openalex.org/W2012807278","https://openalex.org/W2018596386","https://openalex.org/W2027506191","https://openalex.org/W2031751816","https://openalex.org/W2048709072","https://openalex.org/W2074464158","https://openalex.org/W2083316369","https://openalex.org/W2090252028","https://openalex.org/W2111233739","https://openalex.org/W2113854435","https://openalex.org/W2122093596","https://openalex.org/W2128140121","https://openalex.org/W2135661092","https://openalex.org/W2142332594","https://openalex.org/W2155067987","https://openalex.org/W2160146756","https://openalex.org/W2188317682","https://openalex.org/W2333718310","https://openalex.org/W2343277622","https://openalex.org/W2471147280","https://openalex.org/W2520681647","https://openalex.org/W6646791841"],"related_works":["https://openalex.org/W4244052565","https://openalex.org/W2358719579","https://openalex.org/W4252778923","https://openalex.org/W2385042721","https://openalex.org/W2367929022","https://openalex.org/W2351754530","https://openalex.org/W2378649906","https://openalex.org/W2391014597","https://openalex.org/W2350113401","https://openalex.org/W2348727246"],"abstract_inverted_index":{"Heading":[0],"information":[1],"is":[2,11,40,80,93,103],"critically":[3],"important":[4],"for":[5,13,19,95],"autonomous":[6],"mobile":[7,110],"robots":[8],"as":[9],"it":[10],"necessary":[12],"scanning":[14],"or":[15,47,136],"sweeping":[16],"predetermined":[17],"areas":[18],"specific":[20],"tasks.":[21],"Fusing":[22],"sensor":[23,89],"data":[24],"including":[25],"angular":[26],"rates,":[27],"acceleration,":[28],"and":[29,34,63,88,119,132],"geomagnetic":[30,38,70],"fields":[31],"provide":[32],"heading":[33,54,156],"attitude.":[35],"However,":[36],"the":[37,121,138,149,152,155,160,166],"field":[39],"often":[41],"interfered":[42],"with":[43,75,115],"by":[44,107,158,163,169],"ferromagnetic":[45,117],"objects":[46,118],"other":[48],"magnetic":[49,65,99],"sources,":[50],"resulting":[51],"in":[52,68,82,135],"incorrect":[53],"information.":[55],"This":[56,72],"paper":[57],"describes":[58],"an":[59,76],"algorithm":[60,73,92,102,150],"that":[61,97,128,148],"detects":[62],"rejects":[64],"disturbances":[66],"contained":[67],"a":[69,83,109,113,125,144],"field.":[71],"combined":[74],"extended":[77],"Kalman":[78],"filter":[79],"implemented":[81],"relatively":[84],"low-cost,":[85],"small-scale":[86],"microprocessor":[87],"module.":[90],"The":[91,101,140],"detailed":[94],"parameters":[96],"detect":[98],"disturbances.":[100],"also":[104],"evaluated":[105],"outdoors":[106],"driving":[108],"robot":[111],"on":[112,120,143],"lawn":[114],"apparent":[116],"flat":[122,145],"roof":[123,146],"of":[124,154],"ferroconcrete":[126],"building":[127],"includes":[129],"iron":[130],"bars":[131],"electrical":[133],"wires":[134],"under":[137],"roof.":[139],"experimental":[141],"results":[142],"indicate":[147],"improves":[151],"accuracy":[153],"significantly":[157],"reducing":[159],"peak-to-peak":[161],"error":[162,168],"32.9%":[164],"(or":[165],"rms":[167],"69.9%).":[170]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}