{"id":"https://openalex.org/W2977913272","doi":"https://doi.org/10.1109/tie.2019.2944062","title":"Design and Experimental Evaluation of Immersion and Invariance Observer for Low-Cost Attitude-Heading Reference System","display_name":"Design and Experimental Evaluation of Immersion and Invariance Observer for Low-Cost Attitude-Heading Reference System","publication_year":2019,"publication_date":"2019-10-02","ids":{"openalex":"https://openalex.org/W2977913272","doi":"https://doi.org/10.1109/tie.2019.2944062","mag":"2977913272"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2019.2944062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2944062","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/A5069892901","display_name":"Jafar Keighobadi","orcid":"https://orcid.org/0000-0002-1216-4518"},"institutions":[{"id":"https://openalex.org/I41832843","display_name":"University of Tabriz","ror":"https://ror.org/01papkj44","country_code":"IR","type":"education","lineage":["https://openalex.org/I41832843"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Jafar Keighobadi","raw_affiliation_strings":["Faculty of Mechanical Engineering, University of Tabriz, Tabriz, Iran"],"raw_orcid":"https://orcid.org/0000-0002-1216-4518","affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, University of Tabriz, Tabriz, Iran","institution_ids":["https://openalex.org/I41832843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079517955","display_name":"Mehran Hosseini\u2010Pishrobat","orcid":"https://orcid.org/0000-0002-5866-5131"},"institutions":[{"id":"https://openalex.org/I41832843","display_name":"University of Tabriz","ror":"https://ror.org/01papkj44","country_code":"IR","type":"education","lineage":["https://openalex.org/I41832843"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mehran Hosseini-Pishrobat","raw_affiliation_strings":["Faculty of Mechanical Engineering, University of Tabriz, Tabriz, Iran"],"raw_orcid":"https://orcid.org/0000-0002-5866-5131","affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, University of Tabriz, Tabriz, Iran","institution_ids":["https://openalex.org/I41832843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015382539","display_name":"Javad Faraji","orcid":null},"institutions":[{"id":"https://openalex.org/I41832843","display_name":"University of Tabriz","ror":"https://ror.org/01papkj44","country_code":"IR","type":"education","lineage":["https://openalex.org/I41832843"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Javad Faraji","raw_affiliation_strings":["Faculty of Mechanical Engineering, University of Tabriz, Tabriz, Iran"],"raw_orcid":"https://orcid.org/0000-0002-9055-9945","affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, University of Tabriz, Tabriz, Iran","institution_ids":["https://openalex.org/I41832843"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032941011","display_name":"Milad Naseri Langehbiz","orcid":"https://orcid.org/0000-0002-6320-5009"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Milad Naseri Langehbiz","raw_affiliation_strings":["Politecnico di Milano, Milan, Italy"],"raw_orcid":"https://orcid.org/0000-0002-6320-5009","affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5069892901"],"corresponding_institution_ids":["https://openalex.org/I41832843"],"apc_list":null,"apc_paid":null,"fwci":14.7046,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.98312463,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"67","issue":"9","first_page":"7871","last_page":"7878"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":1.0,"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":1.0,"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":0.9995999932289124,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/attitude-and-heading-reference-system","display_name":"Attitude and heading reference system","score":0.8975790739059448},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.7320519685745239},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7106961607933044},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6827579736709595},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.5385774970054626},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.48687759041786194},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4864466190338135},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.4838908612728119},{"id":"https://openalex.org/keywords/alpha-beta-filter","display_name":"Alpha beta filter","score":0.44247063994407654},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4391745924949646},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.4263215959072113},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4110499322414398},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.3919394910335541},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3489546775817871},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2661060094833374},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25029826164245605},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17637008428573608},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11752691864967346},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.10056093335151672}],"concepts":[{"id":"https://openalex.org/C204114589","wikidata":"https://www.wikidata.org/wiki/Q4248887","display_name":"Attitude and heading reference system","level":3,"score":0.8975790739059448},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.7320519685745239},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7106961607933044},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6827579736709595},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.5385774970054626},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.48687759041786194},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4864466190338135},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.4838908612728119},{"id":"https://openalex.org/C11588082","wikidata":"https://www.wikidata.org/wiki/Q4735154","display_name":"Alpha beta filter","level":5,"score":0.44247063994407654},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4391745924949646},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.4263215959072113},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4110499322414398},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.3919394910335541},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3489546775817871},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2661060094833374},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25029826164245605},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17637008428573608},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11752691864967346},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.10056093335151672},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2019.2944062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2944062","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":[{"score":0.8700000047683716,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1001916805","https://openalex.org/W1564897360","https://openalex.org/W1572164208","https://openalex.org/W1603631609","https://openalex.org/W1611538460","https://openalex.org/W1979489133","https://openalex.org/W1986045690","https://openalex.org/W2012387742","https://openalex.org/W2039732849","https://openalex.org/W2044687875","https://openalex.org/W2056136488","https://openalex.org/W2070299141","https://openalex.org/W2070488826","https://openalex.org/W2132240870","https://openalex.org/W2137371449","https://openalex.org/W2142428281","https://openalex.org/W2169064059","https://openalex.org/W2294583967","https://openalex.org/W2491284563","https://openalex.org/W2506761666","https://openalex.org/W2592084114","https://openalex.org/W2614729243","https://openalex.org/W2729784903","https://openalex.org/W2730975029","https://openalex.org/W2736585425","https://openalex.org/W2769119871","https://openalex.org/W2781790682","https://openalex.org/W2790374560","https://openalex.org/W2905250229","https://openalex.org/W2963544512","https://openalex.org/W4289258601"],"related_works":["https://openalex.org/W1989565895","https://openalex.org/W2132329956","https://openalex.org/W2567375923","https://openalex.org/W2152170201","https://openalex.org/W2330784347","https://openalex.org/W2375750355","https://openalex.org/W2370734581","https://openalex.org/W2368484960","https://openalex.org/W4309462258","https://openalex.org/W2945159333"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,33,40,108],"new":[4],"immersion":[5],"and":[6,39,89],"invariance":[7],"(I&I)":[8],"observer":[9,26,72,88],"for":[10],"inertial":[11],"microelectromechanical":[12],"systems":[13,19],"(MEMS)":[14],"sensors-based,":[15],"low-cost":[16],"attitude-heading":[17],"reference":[18],"(AHRSs).":[20],"Using":[21],"the":[22,25,37,44,49,64,78,83,86,95,104],"I&I":[23,87],"methodology,":[24],"design":[27],"problem":[28],"is":[29,55,73],"formulated":[30],"as":[31],"finding":[32],"dynamics":[34],"system,":[35],"called":[36],"observer,":[38],"differentiable":[41],"manifold":[42,54],"in":[43],"extended":[45,96],"state":[46],"space":[47],"of":[48,85,107,110],"Euler":[50,79],"angles-observer":[51],"dynamics.":[52],"The":[53],"required":[56],"to":[57,63,75,90],"be":[58],"practically":[59],"stable":[60],"with":[61,94],"respect":[62],"system":[65],"trajectories.":[66],"By":[67],"imposing":[68],"this":[69],"requirement,":[70],"an":[71],"derived":[74],"robustly":[76],"estimate":[77],"angles.":[80],"To":[81],"show":[82],"efficacy":[84],"compare":[91],"its":[92],"performance":[93],"Kalman":[97],"filter,":[98],"rigorous":[99],"simulations":[100],"are":[101],"performed":[102],"using":[103],"raw":[105],"data":[106],"set":[109],"urban":[111],"vehicular":[112],"AHRS":[113],"tests.":[114]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}