{"id":"https://openalex.org/W4206528899","doi":"https://doi.org/10.1109/tim.2022.3141153","title":"A Computationally Efficient Outlier-Robust Cubature Kalman Filter for Underwater Gravity Matching Navigation","display_name":"A Computationally Efficient Outlier-Robust Cubature Kalman Filter for Underwater Gravity Matching Navigation","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4206528899","doi":"https://doi.org/10.1109/tim.2022.3141153"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2022.3141153","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2022.3141153","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/A5001251521","display_name":"Zhao Wang","orcid":"https://orcid.org/0000-0001-9900-114X"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhao Wang","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":"https://orcid.org/0000-0001-9900-114X","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091074416","display_name":"Yulong Huang","orcid":"https://orcid.org/0000-0001-9303-9083"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yulong Huang","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China. (e-mail: heuedu@163.com)"],"raw_orcid":"https://orcid.org/0000-0001-9303-9083","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China. (e-mail: heuedu@163.com)","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003956400","display_name":"Maosong Wang","orcid":"https://orcid.org/0000-0003-0515-5995"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Maosong Wang","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China"],"raw_orcid":"https://orcid.org/0000-0003-0515-5995","affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078883186","display_name":"Jin Wu","orcid":"https://orcid.org/0000-0001-5930-4170"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jin Wu","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-5930-4170","affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100383751","display_name":"Yonggang Zhang","orcid":"https://orcid.org/0000-0003-4548-1111"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yonggang Zhang","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":"https://orcid.org/0000-0003-4548-1111","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.9905,"has_fulltext":false,"cited_by_count":58,"citation_normalized_percentile":{"value":0.9851071,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"71","issue":null,"first_page":"1","last_page":"18"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9995999932289124,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9986000061035156,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.7549421787261963},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.7075173854827881},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6810302734375},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.622577428817749},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5559515953063965},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5202223658561707},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5106599926948547},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.493401437997818},{"id":"https://openalex.org/keywords/blossom-algorithm","display_name":"Blossom algorithm","score":0.477002888917923},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.43539321422576904},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4122650921344757},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39325645565986633},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38384971022605896},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1854974925518036},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.16186144948005676},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.08460399508476257}],"concepts":[{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.7549421787261963},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.7075173854827881},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6810302734375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.622577428817749},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5559515953063965},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5202223658561707},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5106599926948547},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.493401437997818},{"id":"https://openalex.org/C61455927","wikidata":"https://www.wikidata.org/wiki/Q1030529","display_name":"Blossom algorithm","level":3,"score":0.477002888917923},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.43539321422576904},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4122650921344757},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39325645565986633},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38384971022605896},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1854974925518036},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.16186144948005676},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.08460399508476257},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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":3,"locations":[{"id":"doi:10.1109/tim.2022.3141153","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2022.3141153","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"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-115909","is_oa":false,"landing_page_url":"https://repository.hkust.edu.hk/ir/Record/1783.1-115909","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:repository.ust.hk:1783.1-115909","is_oa":false,"landing_page_url":"http://repository.ust.hk/ir/Record/1783.1-115909","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.7699999809265137}],"awards":[{"id":"https://openalex.org/G2834408810","display_name":null,"funder_award_id":"3072021CFT0401","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G568239270","display_name":null,"funder_award_id":"61903097","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/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1971330520","https://openalex.org/W1980907873","https://openalex.org/W1996432686","https://openalex.org/W2000340713","https://openalex.org/W2004958652","https://openalex.org/W2007887985","https://openalex.org/W2009517107","https://openalex.org/W2011166753","https://openalex.org/W2012526720","https://openalex.org/W2027072835","https://openalex.org/W2036115333","https://openalex.org/W2042688433","https://openalex.org/W2043357888","https://openalex.org/W2050114157","https://openalex.org/W2054091988","https://openalex.org/W2082452901","https://openalex.org/W2083954410","https://openalex.org/W2120665422","https://openalex.org/W2123487311","https://openalex.org/W2144903371","https://openalex.org/W2165199328","https://openalex.org/W2166787100","https://openalex.org/W2228180157","https://openalex.org/W2290344891","https://openalex.org/W2330446158","https://openalex.org/W2343391171","https://openalex.org/W2387576463","https://openalex.org/W2395026957","https://openalex.org/W2737188128","https://openalex.org/W2749496335","https://openalex.org/W2759183072","https://openalex.org/W2770024175","https://openalex.org/W2775403132","https://openalex.org/W2789950517","https://openalex.org/W2790374560","https://openalex.org/W2892828577","https://openalex.org/W2963078790","https://openalex.org/W2963134661","https://openalex.org/W2972222132","https://openalex.org/W3010212902","https://openalex.org/W3011280982","https://openalex.org/W3013599166","https://openalex.org/W3044262859","https://openalex.org/W3046104842","https://openalex.org/W3084953188","https://openalex.org/W4238202755"],"related_works":["https://openalex.org/W2089114113","https://openalex.org/W2389555968","https://openalex.org/W4388412763","https://openalex.org/W2352634297","https://openalex.org/W1999583034","https://openalex.org/W2320550378","https://openalex.org/W3217214504","https://openalex.org/W2015739395","https://openalex.org/W2799467415","https://openalex.org/W2387093503"],"abstract_inverted_index":{"Gravity-aided":[0],"navigation":[1,9,29,77],"is":[2,71],"one":[3],"of":[4,10,23,51,95,110,121],"key":[5],"techniques":[6],"for":[7,73],"the":[8,20,32,49,86,93,96,100,106,111,119,122],"underwater":[11,45,75],"vehicles.":[12],"Cubature":[13],"Kalman":[14],"filter":[15],"(CKF)-based":[16],"matching":[17,53,69,124,131],"algorithm":[18,54,70,125],"improves":[19],"positioning":[21],"accuracy":[22],"traditional":[24],"Sandia":[25],"inertial":[26],"terrain":[27],"aided":[28],"method.":[30],"However,":[31],"gravity":[33],"sensor":[34],"may":[35],"suffer":[36],"from":[37],"outlier":[38],"interferences":[39],"due":[40],"to":[41,91],"complex":[42],"and":[43,85,99,115],"changeable":[44],"environments,":[46],"which":[47],"degrades":[48],"performance":[50,109],"CKF-based":[52,68],"remarkably.":[55],"To":[56],"address":[57],"this":[58,61],"problem,":[59],"in":[60],"article,":[62],"a":[63],"novel":[64],"computationally":[65],"efficient":[66],"outlier-robust":[67],"proposed":[72,97,112,123],"an":[74],"gravity-aided":[76],"system":[78],"with":[79,128],"outlier-contaminated":[80],"measurements.":[81],"The":[82],"convergence":[83],"analysis":[84],"stability":[87],"discussions":[88],"are":[89],"given":[90],"show":[92],"effectiveness":[94],"algorithm,":[98],"discussion":[101],"on":[102],"computational":[103],"complexity":[104],"illustrates":[105],"good":[107],"real-time":[108],"algorithm.":[113],"Simulation":[114],"experimental":[116],"results":[117],"demonstrate":[118],"advantages":[120],"as":[126],"compared":[127],"existing":[129],"state-of-the-art":[130],"algorithms.":[132]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":22},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":6}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}