{"id":"https://openalex.org/W3134311896","doi":"https://doi.org/10.1109/tim.2021.3063191","title":"Kalman Filtering With Adaptive Step Size Using a Covariance-Based Criterion","display_name":"Kalman Filtering With Adaptive Step Size Using a Covariance-Based Criterion","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3134311896","doi":"https://doi.org/10.1109/tim.2021.3063191","mag":"3134311896"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2021.3063191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3063191","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/A5021067497","display_name":"Barak Or","orcid":"https://orcid.org/0000-0002-6615-7639"},"institutions":[{"id":"https://openalex.org/I91203450","display_name":"University of Haifa","ror":"https://ror.org/02f009v59","country_code":"IL","type":"education","lineage":["https://openalex.org/I91203450"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"Barak Or","raw_affiliation_strings":["The Leon H. Charney School of Marine Sciences, University of Haifa, Haifa, Israel"],"affiliations":[{"raw_affiliation_string":"The Leon H. Charney School of Marine Sciences, University of Haifa, Haifa, Israel","institution_ids":["https://openalex.org/I91203450"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045507172","display_name":"B.Z. Bobrovsky","orcid":"https://orcid.org/0000-0002-6708-4777"},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Ben-Zion Bobrovsky","raw_affiliation_strings":["Electrical Engineering School, Tel-Aviv University, Tel Aviv, Israel"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering School, Tel-Aviv University, Tel Aviv, Israel","institution_ids":["https://openalex.org/I16391192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012718881","display_name":"Itzik Klein","orcid":"https://orcid.org/0000-0001-7846-0654"},"institutions":[{"id":"https://openalex.org/I91203450","display_name":"University of Haifa","ror":"https://ror.org/02f009v59","country_code":"IL","type":"education","lineage":["https://openalex.org/I91203450"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Itzik Klein","raw_affiliation_strings":["The Leon H. Charney School of Marine Sciences, University of Haifa, Haifa, Israel"],"affiliations":[{"raw_affiliation_string":"The Leon H. Charney School of Marine Sciences, University of Haifa, Haifa, Israel","institution_ids":["https://openalex.org/I91203450"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5021067497"],"corresponding_institution_ids":["https://openalex.org/I91203450"],"apc_list":null,"apc_paid":null,"fwci":2.5834,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.91129791,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"70","issue":null,"first_page":"1","last_page":"10"},"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":0.9998999834060669,"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":0.9998999834060669,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9980000257492065,"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":0.9970999956130981,"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/covariance","display_name":"Covariance","score":0.771264910697937},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7182173728942871},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.6723413467407227},{"id":"https://openalex.org/keywords/covariance-matrix","display_name":"Covariance matrix","score":0.5646187663078308},{"id":"https://openalex.org/keywords/covariance-intersection","display_name":"Covariance intersection","score":0.5411649346351624},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5400958061218262},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4921411871910095},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49169856309890747},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4849264919757843},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.47764742374420166},{"id":"https://openalex.org/keywords/adaptive-filter","display_name":"Adaptive filter","score":0.449418842792511},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3913164436817169},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3621061444282532},{"id":"https://openalex.org/keywords/estimation-of-covariance-matrices","display_name":"Estimation of covariance matrices","score":0.3183053135871887},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.26876091957092285},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1324022114276886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10862505435943604}],"concepts":[{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.771264910697937},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7182173728942871},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.6723413467407227},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.5646187663078308},{"id":"https://openalex.org/C83042196","wikidata":"https://www.wikidata.org/wiki/Q5178898","display_name":"Covariance intersection","level":4,"score":0.5411649346351624},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5400958061218262},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4921411871910095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49169856309890747},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4849264919757843},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.47764742374420166},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.449418842792511},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3913164436817169},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3621061444282532},{"id":"https://openalex.org/C180877172","wikidata":"https://www.wikidata.org/wiki/Q5401390","display_name":"Estimation of covariance matrices","level":3,"score":0.3183053135871887},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.26876091957092285},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1324022114276886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10862505435943604},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2021.3063191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3063191","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W304861154","https://openalex.org/W1500564636","https://openalex.org/W1507322379","https://openalex.org/W2041892022","https://openalex.org/W2042798193","https://openalex.org/W2043737096","https://openalex.org/W2045539695","https://openalex.org/W2046865945","https://openalex.org/W2060681967","https://openalex.org/W2067007369","https://openalex.org/W2105934661","https://openalex.org/W2122512809","https://openalex.org/W2130017063","https://openalex.org/W2136707818","https://openalex.org/W2142761337","https://openalex.org/W2143667229","https://openalex.org/W2144903371","https://openalex.org/W2162754915","https://openalex.org/W2238582461","https://openalex.org/W2783146025","https://openalex.org/W2889409040","https://openalex.org/W3084797474","https://openalex.org/W4285719527","https://openalex.org/W6683812584"],"related_works":["https://openalex.org/W1974588588","https://openalex.org/W2572601863","https://openalex.org/W2118568436","https://openalex.org/W2018001152","https://openalex.org/W2109377650","https://openalex.org/W4390642134","https://openalex.org/W2344632425","https://openalex.org/W1987404909","https://openalex.org/W2097670344","https://openalex.org/W4309794518"],"abstract_inverted_index":{"In":[0,69],"Kalman":[1],"filtering":[2],"(KF),":[3],"a":[4,14,27,38,43,46,92,96],"tradeoff":[5,34],"exists":[6],"when":[7],"selecting":[8],"the":[9,19,24,50,60,66,80,83,104,107],"filter":[10],"step":[11,16,51],"size.":[12],"Generally,":[13],"smaller":[15],"size":[17,52],"improves":[18],"estimation":[20],"accuracy,":[21],"yet":[22],"with":[23],"cost":[25],"of":[26,49,65,82,106],"high":[28],"computational":[29],"load.":[30],"To":[31],"mitigate":[32],"this":[33,71],"influence":[35],"on":[36,59],"performance,":[37],"criterion":[39,56,72],"that":[40],"acts":[41],"as":[42],"guideline":[44],"for":[45,79],"reasonable":[47],"choice":[48],"is":[53,57,73],"proposed.":[54],"This":[55],"based":[58],"predictor-corrector":[61],"error":[62],"covariance":[63],"matrices":[64],"discrete":[67],"KF.":[68],"addition,":[70],"elaborated":[74],"to":[75,102],"an":[76],"adaptive":[77],"algorithm,":[78],"case":[81],"time-varying":[84],"measurement":[85],"noise":[86],"covariance.":[87],"Two":[88],"simulation":[89],"examples":[90],"and":[91,100],"field":[93],"experiment":[94],"using":[95],"quadcopter":[97],"are":[98],"presented":[99],"analyzed":[101],"show":[103],"benefits":[105],"proposed":[108],"approach.":[109]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}