{"id":"https://openalex.org/W2989921246","doi":"https://doi.org/10.1109/tim.2019.2955187","title":"A Novel SINS/DVL Tightly Integrated Navigation Method for Complex Environment","display_name":"A Novel SINS/DVL Tightly Integrated Navigation Method for Complex Environment","publication_year":2019,"publication_date":"2019-11-22","ids":{"openalex":"https://openalex.org/W2989921246","doi":"https://doi.org/10.1109/tim.2019.2955187","mag":"2989921246"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2019.2955187","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2019.2955187","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/A5075652117","display_name":"Di Wang","orcid":"https://orcid.org/0000-0002-7732-1035"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Di Wang","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-7732-1035","affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074042000","display_name":"Xiaosu Xu","orcid":"https://orcid.org/0000-0002-5165-0981"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaosu Xu","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-5165-0981","affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051964287","display_name":"Yiqing Yao","orcid":"https://orcid.org/0000-0001-5721-7129"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiqing Yao","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-5721-7129","affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100375754","display_name":"Tao Zhang","orcid":"https://orcid.org/0000-0001-9955-3905"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Zhang","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-9955-3905","affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015202514","display_name":"Yongyun Zhu","orcid":"https://orcid.org/0000-0002-3059-9232"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongyun Zhu","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-3059-9232","affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":10.1198,"has_fulltext":false,"cited_by_count":149,"citation_normalized_percentile":{"value":0.98819876,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"69","issue":"7","first_page":"5183","last_page":"5196"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9976999759674072,"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"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9975000023841858,"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/inertial-navigation-system","display_name":"Inertial navigation system","score":0.7612577676773071},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6383079290390015},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6291143894195557},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5853990912437439},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.5389922261238098},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4568915367126465},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44658544659614563},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.44141364097595215},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39542460441589355},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.2484608292579651},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.15708383917808533}],"concepts":[{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.7612577676773071},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6383079290390015},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6291143894195557},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5853990912437439},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.5389922261238098},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4568915367126465},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44658544659614563},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.44141364097595215},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39542460441589355},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.2484608292579651},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.15708383917808533},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2019.2955187","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2019.2955187","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":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.7599999904632568}],"awards":[{"id":"https://openalex.org/G1561116626","display_name":null,"funder_award_id":"2242018K40065","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G256324158","display_name":null,"funder_award_id":"51979041","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5430905184","display_name":null,"funder_award_id":"61473085","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5737194396","display_name":null,"funder_award_id":"2242018K40066","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G5874086168","display_name":null,"funder_award_id":"51375088","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G817174545","display_name":null,"funder_award_id":"51775110","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"},{"id":"https://openalex.org/F4320325552","display_name":"Shanghai Key Laboratory of Navigation and Location Based Services","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1925404754","https://openalex.org/W1969142081","https://openalex.org/W2025178440","https://openalex.org/W2100600017","https://openalex.org/W2137672456","https://openalex.org/W2165199328","https://openalex.org/W2167607736","https://openalex.org/W2265778757","https://openalex.org/W2330146556","https://openalex.org/W2359451063","https://openalex.org/W2372914481","https://openalex.org/W2560689152","https://openalex.org/W2589658453","https://openalex.org/W2611142126","https://openalex.org/W2738304376","https://openalex.org/W2751519373","https://openalex.org/W2752872179","https://openalex.org/W2765157544","https://openalex.org/W2791539974","https://openalex.org/W2802267618","https://openalex.org/W2810131311","https://openalex.org/W2888077735","https://openalex.org/W2915794727","https://openalex.org/W3144787046"],"related_works":["https://openalex.org/W4313886815","https://openalex.org/W2038183074","https://openalex.org/W2785359964","https://openalex.org/W2773722138","https://openalex.org/W3175435015","https://openalex.org/W4306940720","https://openalex.org/W2383573797","https://openalex.org/W2391372675","https://openalex.org/W2933126904","https://openalex.org/W2955781955"],"abstract_inverted_index":{"In":[0],"general,":[1],"the":[2,29,101,107,135,139],"strap-down":[3],"inertial":[4],"navigation":[5,11,18,67],"system":[6],"(SINS)/Doppler":[7],"velocity":[8],"log":[9],"(DVL)-integrated":[10],"method":[12,68,103,111,141],"can":[13,104],"provide":[14],"continuous":[15],"and":[16,75,96],"accurate":[17],"information":[19],"for":[20,52,126],"autonomous":[21],"underwater":[22,54],"vehicles":[23],"(AUV).":[24],"This":[25],"SINS/DVL":[26],"fusion":[27],"is":[28,80],"loosely":[30,109,132],"integrated":[31,66,110,133],"method,":[32,134],"in":[33,60,82,112],"which":[34,83],"DVL":[35,120],"may":[36],"contain":[37],"large":[38],"error":[39],"or":[40,50,124],"does":[41],"not":[42],"work":[43],"when":[44,119],"some":[45],"beam":[46,84],"measurements":[47,85],"are":[48,86,122],"inaccurate":[49,123],"outages":[51],"complex":[53,128],"environment.":[55,129],"To":[56],"solve":[57],"these":[58],"problems,":[59],"this":[61],"article,":[62],"a":[63,73,76,127],"novel":[64],"tightly":[65],"composed":[69],"of":[70,138],"an":[71],"SINS,":[72],"DVL,":[74],"pressure":[77],"sensor":[78],"(PS)":[79],"proposed,":[81],"used":[87],"without":[88],"transforming":[89],"them":[90],"to":[91],"3-D":[92],"velocity.":[93],"The":[94],"simulation":[95],"vehicle":[97],"test":[98],"show":[99],"that":[100],"proposed":[102,140],"significantly":[105],"outperform":[106],"traditional":[108],"providing":[113],"estimation":[114],"continuously":[115],"with":[116,131],"higher":[117],"accuracy":[118,137],"data":[121],"unavailable":[125],"Compared":[130],"position":[136],"has":[142],"improved":[143],"by":[144],"32.5%.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":34},{"year":2024,"cited_by_count":26},{"year":2023,"cited_by_count":33},{"year":2022,"cited_by_count":24},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":6}],"updated_date":"2026-06-28T08:01:55.173337","created_date":"2025-10-10T00:00:00"}