{"id":"https://openalex.org/W4366310794","doi":"https://doi.org/10.1109/tim.2023.3267360","title":"On Performance Evaluation of Inertial Navigation Systems: The Case of Stochastic Calibration","display_name":"On Performance Evaluation of Inertial Navigation Systems: The Case of Stochastic Calibration","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4366310794","doi":"https://doi.org/10.1109/tim.2023.3267360"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2023.3267360","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3267360","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/A5079525710","display_name":"Davide A. Cucci","orcid":"https://orcid.org/0000-0002-7358-564X"},"institutions":[{"id":"https://openalex.org/I114457229","display_name":"University of Geneva","ror":"https://ror.org/01swzsf04","country_code":"CH","type":"education","lineage":["https://openalex.org/I114457229"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Davide A. Cucci","raw_affiliation_strings":["Geneva School of Economics and Management, University of Geneva, Geneva, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-7358-564X","affiliations":[{"raw_affiliation_string":"Geneva School of Economics and Management, University of Geneva, Geneva, Switzerland","institution_ids":["https://openalex.org/I114457229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004665796","display_name":"Lionel Voirol","orcid":"https://orcid.org/0000-0003-1696-1407"},"institutions":[{"id":"https://openalex.org/I114457229","display_name":"University of Geneva","ror":"https://ror.org/01swzsf04","country_code":"CH","type":"education","lineage":["https://openalex.org/I114457229"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Lionel Voirol","raw_affiliation_strings":["Geneva School of Economics and Management, University of Geneva, Geneva, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-1696-1407","affiliations":[{"raw_affiliation_string":"Geneva School of Economics and Management, University of Geneva, Geneva, Switzerland","institution_ids":["https://openalex.org/I114457229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072980914","display_name":"Mehran Khaghani","orcid":"https://orcid.org/0000-0002-2188-9350"},"institutions":[{"id":"https://openalex.org/I114457229","display_name":"University of Geneva","ror":"https://ror.org/01swzsf04","country_code":"CH","type":"education","lineage":["https://openalex.org/I114457229"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Mehran Khaghani","raw_affiliation_strings":["Geneva School of Economics and Management, University of Geneva, Geneva, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-2188-9350","affiliations":[{"raw_affiliation_string":"Geneva School of Economics and Management, University of Geneva, Geneva, Switzerland","institution_ids":["https://openalex.org/I114457229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083062363","display_name":"St\u00e9phane Guerrier","orcid":"https://orcid.org/0000-0003-0002-8794"},"institutions":[{"id":"https://openalex.org/I114457229","display_name":"University of Geneva","ror":"https://ror.org/01swzsf04","country_code":"CH","type":"education","lineage":["https://openalex.org/I114457229"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"St\u00e9phane Guerrier","raw_affiliation_strings":["Faculty of Science and the Geneva School of Economics and Management, University of Geneva, Geneva, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-0002-8794","affiliations":[{"raw_affiliation_string":"Faculty of Science and the Geneva School of Economics and Management, University of Geneva, Geneva, Switzerland","institution_ids":["https://openalex.org/I114457229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114457229"],"apc_list":null,"apc_paid":null,"fwci":6.9471,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.96087563,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"72","issue":null,"first_page":"1","last_page":"17"},"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":0.9976999759674072,"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/T11405","display_name":"Geophysics and Gravity Measurements","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6825084090232849},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.647849977016449},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5249845385551453},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.49718454480171204},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.4871346652507782},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.48658573627471924},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.4676361083984375},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4453832507133484},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.32048746943473816},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.25369793176651},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.21363133192062378},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16731896996498108},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13386592268943787}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6825084090232849},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.647849977016449},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5249845385551453},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.49718454480171204},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.4871346652507782},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.48658573627471924},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.4676361083984375},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4453832507133484},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.32048746943473816},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.25369793176651},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.21363133192062378},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16731896996498108},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13386592268943787},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2023.3267360","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3267360","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/G2220819804","display_name":null,"funder_award_id":"#182684","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"},{"id":"https://openalex.org/G2739924689","display_name":null,"funder_award_id":"#176843","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"},{"id":"https://openalex.org/G2805174467","display_name":null,"funder_award_id":"#211007","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"},{"id":"https://openalex.org/G3857721114","display_name":null,"funder_award_id":"#53622.1 IP-ENG","funder_id":"https://openalex.org/F4320327931","funder_display_name":"Innosuisse - Schweizerische Agentur f\u00fcr Innovationsf\u00f6rderung"},{"id":"https://openalex.org/G7336094271","display_name":"New Challenges for Statistical Methods in Large and Complex Data Settings: Analysis of Dependent Data and Model Selection","funder_award_id":"176843","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"},{"id":"https://openalex.org/G8341321963","display_name":null,"funder_award_id":"#37308.1 IP-ENG","funder_id":"https://openalex.org/F4320327931","funder_display_name":"Innosuisse - Schweizerische Agentur f\u00fcr Innovationsf\u00f6rderung"}],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320327931","display_name":"Innosuisse - Schweizerische Agentur f\u00fcr Innovationsf\u00f6rderung","ror":"https://ror.org/05a2bhn71"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1483684445","https://openalex.org/W1531532259","https://openalex.org/W1564768010","https://openalex.org/W1996894524","https://openalex.org/W1997330647","https://openalex.org/W2019864969","https://openalex.org/W2035708890","https://openalex.org/W2047694274","https://openalex.org/W2055672076","https://openalex.org/W2097897891","https://openalex.org/W2105125773","https://openalex.org/W2131420149","https://openalex.org/W2139872083","https://openalex.org/W2159012223","https://openalex.org/W2187228262","https://openalex.org/W2216284590","https://openalex.org/W2238582461","https://openalex.org/W2261565029","https://openalex.org/W2273215065","https://openalex.org/W2322973727","https://openalex.org/W2343953480","https://openalex.org/W2603607770","https://openalex.org/W2629636253","https://openalex.org/W2792565648","https://openalex.org/W2913755968","https://openalex.org/W2921924831","https://openalex.org/W2946997973","https://openalex.org/W2968489055","https://openalex.org/W3016249510","https://openalex.org/W3032120116","https://openalex.org/W3193344692","https://openalex.org/W4240930296","https://openalex.org/W6680529320","https://openalex.org/W6686558613","https://openalex.org/W6692878655","https://openalex.org/W6694529772","https://openalex.org/W6760437317"],"related_works":["https://openalex.org/W2404647514","https://openalex.org/W1667647204","https://openalex.org/W4247536566","https://openalex.org/W4386936491","https://openalex.org/W2018477250","https://openalex.org/W3119814709","https://openalex.org/W2385286892","https://openalex.org/W2350927655","https://openalex.org/W2026704625","https://openalex.org/W2068384470"],"abstract_inverted_index":{"In":[0],"this":[1],"work":[2],"we":[3,106],"address":[4],"the":[5,10,66,78,82,90,101,112,123,131,144,155,178,186,240,243,253,266],"problem":[6,113],"of":[7,12,23,61,65,71,77,81,103,114,135,143,163,174,180,188,213,231,242],"rigorously":[8,139],"evaluating":[9],"performances":[11,80],"an":[13,108],"inertial":[14,164],"navigation":[15,181,190],"system":[16,83,182],"during":[17],"its":[18],"design":[19],"phase":[20],"in":[21,35,84,141,149,251,265],"presence":[22],"multiple":[24,150],"alternative":[25,97],"choices.":[26],"We":[27,152],"introduce":[28],"a":[29,37,53,94,171,228],"framework":[30,88,167],"based":[31],"on":[32],"Monte-Carlo":[33],"simulations":[34],"which":[36],"standard":[38],"extended":[39],"Kalman":[40],"filter":[41],"is":[42],"coupled":[43],"with":[44,195],"realistic":[45],"and":[46,130,148,221,258],"user-configurable":[47],"noise":[48],"generation":[49],"mechanisms":[50],"to":[51,92,111,169,177,197,209,211,218,225,227,233],"recover":[52],"reference":[54],"trajectory":[55],"from":[56],"noisy":[57],"measurements.":[58],"The":[59],"evaluation":[60],"several":[62],"statistical":[63,260],"metrics":[64,147],"solution,":[67],"aggregated":[68],"over":[69],"hundreds":[70],"simulated":[72],"realizations,":[73],"provides":[74,157],"reasonable":[75],"estimates":[76,236],"expected":[79],"real-world":[85],"conditions.":[86],"This":[87],"allows":[89,168],"user":[91],"make":[93],"choice":[95],"between":[96,255],"setups.":[98],"To":[99],"show":[100],"generality":[102],"our":[104,247],"approach,":[105],"consider":[107,170],"example":[109],"application":[110],"stochastic":[115,119,267],"calibration.":[116],"Two":[117],"competing":[118],"modeling":[120,201],"techniques,":[121],"namely,":[122],"widely":[124],"popular":[125],"Allan":[126],"variance":[127],"linear":[128],"regression,":[129],"emerging":[132],"generalised":[133],"method":[134,248],"wavelet":[136],"moments,":[137],"are":[138,207,222],"compared":[140],"terms":[142],"framework\u2019s":[145],"defined":[146],"scenarios.":[151],"find":[153],"that":[154],"latter":[156],"substantial":[158],"advantages":[159],"for":[160,238],"certain":[161],"classes":[162],"sensors.":[165],"Our":[166],"wide":[172],"range":[173],"problems":[175],"related":[176],"quantification":[179],"performances,":[183],"such":[184],"as":[185,193,262],"robustness":[187],"integrated":[189],"systems":[191],"(such":[192],"INS/GNSS)":[194],"respect":[196],"outliers":[198],"or":[199],"other":[200],"imperfections.":[202],"While":[203],"real":[204],"world":[205],"experiments":[206,257],"essential":[208],"assess":[210],"performance":[212],"new":[214],"methods,":[215],"they":[216],"tend":[217],"be":[219],"costly":[220],"typically":[223],"unable":[224],"lead":[226],"sufficient":[229],"number":[230],"replicates":[232],"provide":[234],"suitable":[235],"of,":[237],"example,":[239],"correctness":[241],"estimated":[244],"uncertainty.":[245],"Therefore,":[246],"can":[249],"contribute":[250],"bridging":[252],"gap":[254],"these":[256],"pure":[259],"consideration":[261],"usually":[263],"found":[264],"calibration":[268],"literature.":[269]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}