{"id":"https://openalex.org/W2202408356","doi":"https://doi.org/10.1109/tim.2015.2450358","title":"Statistical Modeling of Random Walk Errors for Triaxial Rate Gyros","display_name":"Statistical Modeling of Random Walk Errors for Triaxial Rate Gyros","publication_year":2015,"publication_date":"2015-12-03","ids":{"openalex":"https://openalex.org/W2202408356","doi":"https://doi.org/10.1109/tim.2015.2450358","mag":"2202408356"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2015.2450358","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2015.2450358","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5100541160","display_name":"Dongyu Yuan","orcid":"https://orcid.org/0000-0002-5194-8024"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongyu Yuan","raw_affiliation_strings":["Key Laboratory of Information Technology for Autonomous Underwater Vehicles, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Information Technology for Autonomous Underwater Vehicles, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032782021","display_name":"Xiaochuan Ma","orcid":"https://orcid.org/0000-0001-8892-7000"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaochuan Ma","raw_affiliation_strings":["Key Laboratory of Information Technology for Autonomous Underwater Vehicles, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Information Technology for Autonomous Underwater Vehicles, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100345806","display_name":"Yu Liu","orcid":"https://orcid.org/0000-0002-6085-9365"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Liu","raw_affiliation_strings":["Key Laboratory of Information Technology for Autonomous Underwater Vehicles, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Information Technology for Autonomous Underwater Vehicles, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101548135","display_name":"Zhigang Shang","orcid":"https://orcid.org/0009-0008-9019-5468"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhigang Shang","raw_affiliation_strings":["Key Laboratory of Information Technology for Autonomous Underwater Vehicles, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Information Technology for Autonomous Underwater Vehicles, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082998836","display_name":"Shefeng Yan","orcid":"https://orcid.org/0000-0002-4886-8269"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shefeng Yan","raw_affiliation_strings":["Key Laboratory of Information Technology for Autonomous Underwater Vehicles, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Information Technology for Autonomous Underwater Vehicles, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I19820366"],"apc_list":null,"apc_paid":null,"fwci":44.3573,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.99409496,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"65","issue":"2","first_page":"286","last_page":"296"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998000264167786,"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":0.9998000264167786,"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9945999979972839,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9937999844551086,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/allan-variance","display_name":"Allan variance","score":0.7893223762512207},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6348323225975037},{"id":"https://openalex.org/keywords/univariate","display_name":"Univariate","score":0.5405295491218567},{"id":"https://openalex.org/keywords/random-walk","display_name":"Random walk","score":0.5265657901763916},{"id":"https://openalex.org/keywords/vibrating-structure-gyroscope","display_name":"Vibrating structure gyroscope","score":0.5027780532836914},{"id":"https://openalex.org/keywords/stochastic-process","display_name":"Stochastic process","score":0.48194146156311035},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.477535605430603},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.4645846486091614},{"id":"https://openalex.org/keywords/spectral-density","display_name":"Spectral density","score":0.4407127797603607},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.43327391147613525},{"id":"https://openalex.org/keywords/time-domain","display_name":"Time domain","score":0.4167832136154175},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4119337797164917},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.41094374656677246},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4084274470806122},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3070344924926758},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.2548333406448364},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24938586354255676},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11638763546943665}],"concepts":[{"id":"https://openalex.org/C5722023","wikidata":"https://www.wikidata.org/wiki/Q1440227","display_name":"Allan variance","level":3,"score":0.7893223762512207},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6348323225975037},{"id":"https://openalex.org/C199163554","wikidata":"https://www.wikidata.org/wiki/Q1681619","display_name":"Univariate","level":3,"score":0.5405295491218567},{"id":"https://openalex.org/C121194460","wikidata":"https://www.wikidata.org/wiki/Q856741","display_name":"Random walk","level":2,"score":0.5265657901763916},{"id":"https://openalex.org/C72768775","wikidata":"https://www.wikidata.org/wiki/Q844456","display_name":"Vibrating structure gyroscope","level":3,"score":0.5027780532836914},{"id":"https://openalex.org/C8272713","wikidata":"https://www.wikidata.org/wiki/Q176737","display_name":"Stochastic process","level":2,"score":0.48194146156311035},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.477535605430603},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.4645846486091614},{"id":"https://openalex.org/C168110828","wikidata":"https://www.wikidata.org/wiki/Q1331626","display_name":"Spectral density","level":2,"score":0.4407127797603607},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.43327391147613525},{"id":"https://openalex.org/C103824480","wikidata":"https://www.wikidata.org/wiki/Q185889","display_name":"Time domain","level":2,"score":0.4167832136154175},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4119337797164917},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.41094374656677246},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4084274470806122},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3070344924926758},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.2548333406448364},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24938586354255676},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11638763546943665},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"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/C22679943","wikidata":"https://www.wikidata.org/wiki/Q159375","display_name":"Standard deviation","level":2,"score":0.0},{"id":"https://openalex.org/C161584116","wikidata":"https://www.wikidata.org/wiki/Q1952580","display_name":"Multivariate statistics","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2015.2450358","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2015.2450358","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8700000047683716,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G8576285033","display_name":null,"funder_award_id":"Project 61471352","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8701002575","display_name":null,"funder_award_id":"Project 61222107","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W250076511","https://openalex.org/W1965392255","https://openalex.org/W1966148868","https://openalex.org/W2009847919","https://openalex.org/W2010494064","https://openalex.org/W2018742520","https://openalex.org/W2034603632","https://openalex.org/W2061207555","https://openalex.org/W2073199425","https://openalex.org/W2074577293","https://openalex.org/W2079809336","https://openalex.org/W2093896126","https://openalex.org/W2100846830","https://openalex.org/W2131420149","https://openalex.org/W2150907318","https://openalex.org/W2153658537","https://openalex.org/W2159012223","https://openalex.org/W2167192724","https://openalex.org/W2725155761","https://openalex.org/W3031115143","https://openalex.org/W6778770724"],"related_works":["https://openalex.org/W1973973903","https://openalex.org/W2383411365","https://openalex.org/W4287084017","https://openalex.org/W3195533899","https://openalex.org/W3208523813","https://openalex.org/W1483532916","https://openalex.org/W2150147713","https://openalex.org/W2042168727","https://openalex.org/W2347235354","https://openalex.org/W2948903697"],"abstract_inverted_index":{"Microelectromechanical":[0],"systems":[1],"(MEMS)":[2],"gyroscope":[3],"is":[4,74,167,226],"a":[5,62,68,122,131,154],"new":[6,155,197],"type":[7],"of":[8,32,65,71,125,137,162,178,195,223],"inertial":[9],"sensor":[10],"with":[11,116,148],"small":[12],"size,":[13],"light":[14],"weight,":[15],"low":[16,19],"cost,":[17],"and":[18,30,52,91,106,119,129,146,184,199,205,232],"power":[20,92],"consumption.":[21],"Thus,":[22],"it":[23],"has":[24],"been":[25],"widely":[26],"used":[27,100],"for":[28,134,157],"guidance":[29],"stabilization":[31],"many":[33],"platforms.":[34],"Although":[35],"these":[36,72],"MEMS":[37],"devices":[38],"have":[39],"such":[40],"crucial":[41],"advantages,":[42],"the":[43,58,78,82,103,108,159,163,176,186,191,196,208,212,224],"stochastic":[44,152],"errors,":[45,153],"mainly":[46,114],"including":[47],"random":[48,104],"walk,":[49],"bias":[50],"instability,":[51],"quantization":[53],"noise,":[54],"may":[55],"suddenly":[56],"degrade":[57],"system":[59,79],"performance":[60,222],"in":[61,143,171],"short":[63],"period":[64],"time.":[66],"Therefore,":[67],"suitable":[69,123],"modeling":[70,124],"errors":[73],"vital":[75],"to":[76,101,182],"guarantee":[77],"performance.":[80],"In":[81],"previous":[83],"work,":[84],"Allan":[85],"variance":[86,194],"(AV)":[87],"(time":[88],"domain":[89,96],"analysis)":[90,97],"spectral":[93],"density":[94],"(frequency":[95],"techniques":[98],"are":[99],"identify":[102],"process":[105],"get":[107],"precise":[109,132],"parameter":[110],"estimation.":[111],"However,":[112],"they":[113],"deal":[115],"univariate":[117,181],"situations":[118],"only":[120],"give":[121],"uniaxial":[126],"gyro":[127],"signal":[128],"not":[130],"estimation":[133,219],"an":[135,141],"array":[136],"gyros.":[138],"Aiming":[139],"at":[140],"application":[142],"practical":[144],"engineering":[145],"dealing":[147],"triaxial":[149,164],"rate":[150,165],"gyros'":[151],"algorithm":[156,170,209,225],"estimating":[158],"statistical":[160,188,218],"parameters":[161],"gyros":[166],"proposed.":[168],"The":[169,221],"this":[172],"paper":[173],"first":[174],"extends":[175],"definition":[177],"AV":[179,203],"from":[180,217],"multivariable":[183],"gives":[185,207],"corresponding":[187],"properties,":[189],"i.e.,":[190],"theoretical":[192],"mean,":[193],"AV,":[198],"covariance":[200],"between":[201],"different":[202],"points,":[204],"then":[206],"based":[210],"on":[211],"best":[213],"linear":[214],"unbiased":[215],"estimator":[216],"theory.":[220],"demonstrated":[227],"using":[228],"both":[229],"simulated":[230],"data":[231],"experimental":[233],"data.":[234]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-14T08:27:34.040176","created_date":"2025-10-10T00:00:00"}