{"id":"https://openalex.org/W3201487808","doi":"https://doi.org/10.1109/tim.2021.3111971","title":"Adaptive Error-State Kalman Filter for Attitude Determination on a Moving Platform","display_name":"Adaptive Error-State Kalman Filter for Attitude Determination on a Moving Platform","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3201487808","doi":"https://doi.org/10.1109/tim.2021.3111971","mag":"3201487808"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2021.3111971","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3111971","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/A5101471216","display_name":"Jingjing He","orcid":"https://orcid.org/0000-0002-7615-1708"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingjing He","raw_affiliation_strings":["State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, China"],"raw_orcid":"https://orcid.org/0000-0002-7615-1708","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101563174","display_name":"Changku Sun","orcid":"https://orcid.org/0000-0001-7775-0588"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changku Sun","raw_affiliation_strings":["State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, China"],"raw_orcid":"https://orcid.org/0000-0001-7775-0588","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091221553","display_name":"Baoshang Zhang","orcid":"https://orcid.org/0000-0002-7034-8139"},"institutions":[{"id":"https://openalex.org/I4210120442","display_name":"AVIC Optronics (China)","ror":"https://ror.org/0338ntq56","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210120442"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baoshang Zhang","raw_affiliation_strings":["Science and Technology on Electro-Optic Control Laboratory, Luoyang Institute of Electro-Optic Equipment, Luoyang 471009, China"],"raw_orcid":"https://orcid.org/0000-0002-7034-8139","affiliations":[{"raw_affiliation_string":"Science and Technology on Electro-Optic Control Laboratory, Luoyang Institute of Electro-Optic Equipment, Luoyang 471009, China","institution_ids":["https://openalex.org/I4210120442"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023719589","display_name":"Peng Wang","orcid":"https://orcid.org/0000-0002-4428-0599"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Wang","raw_affiliation_strings":["State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, China. (e-mail: wang_peng@tju.edu.cn)","State Key Laboratory of Precision Measuring Technology & Instruments, Tianjin University,Tianjin,China"],"raw_orcid":"https://orcid.org/0000-0002-4428-0599","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, China. (e-mail: wang_peng@tju.edu.cn)","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"State Key Laboratory of Precision Measuring Technology & Instruments, Tianjin University,Tianjin,China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":27.7575,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.99259252,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9991000294685364,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9932000041007996,"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/kalman-filter","display_name":"Kalman filter","score":0.7148700952529907},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7108470797538757},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.6930245161056519},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5939750075340271},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.587210476398468},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5320872664451599},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5128083825111389},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.46794337034225464},{"id":"https://openalex.org/keywords/adaptive-filter","display_name":"Adaptive filter","score":0.4591673016548157},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4563797116279602},{"id":"https://openalex.org/keywords/fast-kalman-filter","display_name":"Fast Kalman filter","score":0.4219835102558136},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.417911171913147},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.325400173664093},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31914398074150085},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.284666508436203},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2676110863685608},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25675681233406067},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08435672521591187}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7148700952529907},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7108470797538757},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.6930245161056519},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5939750075340271},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.587210476398468},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5320872664451599},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5128083825111389},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.46794337034225464},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.4591673016548157},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4563797116279602},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.4219835102558136},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.417911171913147},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.325400173664093},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31914398074150085},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.284666508436203},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2676110863685608},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25675681233406067},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08435672521591187},{"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.2021.3111971","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3111971","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":[{"id":"https://openalex.org/G7432294929","display_name":null,"funder_award_id":"NSFC-51875407","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1597511566","https://openalex.org/W1603631609","https://openalex.org/W1993595542","https://openalex.org/W2054091988","https://openalex.org/W2065935304","https://openalex.org/W2068974335","https://openalex.org/W2074641908","https://openalex.org/W2088115584","https://openalex.org/W2094385794","https://openalex.org/W2095376999","https://openalex.org/W2107753905","https://openalex.org/W2143030612","https://openalex.org/W2143737806","https://openalex.org/W2147536420","https://openalex.org/W2156064084","https://openalex.org/W2162852252","https://openalex.org/W2168004776","https://openalex.org/W2221510318","https://openalex.org/W2316805689","https://openalex.org/W2395026957","https://openalex.org/W2412640139","https://openalex.org/W2490865940","https://openalex.org/W2585921769","https://openalex.org/W2612922558","https://openalex.org/W2737188128","https://openalex.org/W2753743009","https://openalex.org/W2759183072","https://openalex.org/W2759375001","https://openalex.org/W2767844447","https://openalex.org/W2768018028","https://openalex.org/W2782452832","https://openalex.org/W2790374560","https://openalex.org/W2890376682","https://openalex.org/W2892239757","https://openalex.org/W2896569940","https://openalex.org/W2901806907","https://openalex.org/W2911817449","https://openalex.org/W2992690291","https://openalex.org/W3027939032","https://openalex.org/W3047395687","https://openalex.org/W3082411999","https://openalex.org/W3088412635","https://openalex.org/W6681779909","https://openalex.org/W6745830181"],"related_works":["https://openalex.org/W4206024512","https://openalex.org/W2772311278","https://openalex.org/W2359845109","https://openalex.org/W1035502194","https://openalex.org/W4300476109","https://openalex.org/W2354299011","https://openalex.org/W4302337189","https://openalex.org/W2911693460","https://openalex.org/W2164981166","https://openalex.org/W2089114113"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,13,101],"loosely-coupled":[4],"visual/inertial":[5],"hybrid":[6],"system":[7],"for":[8,51,154],"relative":[9],"attitude":[10],"determination":[11],"on":[12],"moving":[14],"platform.":[15],"The":[16,115,131,164],"inertial":[17,58],"measurements":[18,61],"are":[19,129,152],"accomplished":[20],"by":[21,40,76],"two":[22,125,149],"gyroscopes,":[23],"of":[24,32,96,124,160],"which":[25],"the":[26,33,36,41,52,57,65,78,86,97,110,133,138,143,147,158,161,167,175,187],"slave":[27],"gyroscope":[28,53],"removes":[29],"redundant":[30],"motion":[31,38,127],"platform":[34],"from":[35],"total":[37],"sensed":[39],"master":[42],"gyroscope.":[43],"To":[44,92],"correct":[45],"integration":[46],"drift":[47],"error":[48,179,183],"and":[49,59,88,106,113,122,146,181,185],"compensate":[50],"biases,":[54],"we":[55],"fuse":[56],"visual":[60],"fused":[62],"together":[63,108],"through":[64],"error-state":[66],"Kalman":[67,135,140],"filter":[68,136,141,145,169,188],"(ESKF).":[69],"Furthermore,":[70],"an":[71],"improved":[72],"ESKF":[73],"is":[74,104,119],"proposed":[75,144,162,168],"utilizing":[77],"variational":[79],"Bayesian":[80],"(VB)":[81],"inference":[82],"to":[83,156],"adaptively":[84],"estimate":[85],"process":[87,98],"measurement":[89],"noise":[90,99,111],"covariance.":[91],"realize":[93],"direct":[94],"estimation":[95],"covariance,":[100],"latent":[102],"variable":[103],"introduced,":[105],"inferred":[107],"with":[109],"covariances":[112],"error-state.":[114],"practical":[116],"experimental":[117],"setup":[118],"built":[120],"up":[121],"experiments":[123],"different":[126],"trajectories":[128],"conducted.":[130],"ESKF,":[132],"cubature":[134],"(CKF),":[137],"extended":[139],"(EKF),":[142],"other":[148],"adaptive":[150],"filters":[151],"implemented":[153],"comparison":[155],"verify":[157],"effectiveness":[159],"filter.":[163],"results":[165],"demonstrate":[166],"show":[170],"superiority":[171],"in":[172],"reducing":[173],"both":[174],"root":[176],"mean":[177],"square":[178],"(RMSE)":[180],"maximum":[182],"(ME),":[184],"improving":[186],"consistency.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":8}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
