{"id":"https://openalex.org/W4383753517","doi":"https://doi.org/10.1109/tim.2023.3293566","title":"Distributionally Robust Kalman Filtering for INS/GPS Tightly Coupled Integration With Model Uncertainty and Measurement Outlier","display_name":"Distributionally Robust Kalman Filtering for INS/GPS Tightly Coupled Integration With Model Uncertainty and Measurement Outlier","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4383753517","doi":"https://doi.org/10.1109/tim.2023.3293566"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2023.3293566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3293566","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/A5049753726","display_name":"Kang Si","orcid":"https://orcid.org/0000-0002-7423-9589"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kang Si","raw_affiliation_strings":["School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7423-9589","affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100432752","display_name":"Peng Li","orcid":"https://orcid.org/0000-0002-9428-6374"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Li","raw_affiliation_strings":["School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9428-6374","affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025436383","display_name":"Zhi-Peng Yuan","orcid":"https://orcid.org/0000-0002-3935-1129"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi-Peng Yuan","raw_affiliation_strings":["School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3935-1129","affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102778232","display_name":"Ke Qiao","orcid":"https://orcid.org/0000-0003-0707-5630"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Qiao","raw_affiliation_strings":["School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0707-5630","affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100695493","display_name":"Bo Wang","orcid":"https://orcid.org/0000-0003-2996-8552"},"institutions":[{"id":"https://openalex.org/I4210157899","display_name":"China State Shipbuilding (China)","ror":"https://ror.org/04rveb346","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210157899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Wang","raw_affiliation_strings":["Systems Engineering Research Institute, China State Shipbuilding Corporation (CSSC), Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2996-8552","affiliations":[{"raw_affiliation_string":"Systems Engineering Research Institute, China State Shipbuilding Corporation (CSSC), Beijing, China","institution_ids":["https://openalex.org/I4210157899"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087249759","display_name":"He Xiao","orcid":"https://orcid.org/0009-0007-8133-780X"},"institutions":[{"id":"https://openalex.org/I4210157899","display_name":"China State Shipbuilding (China)","ror":"https://ror.org/04rveb346","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210157899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao He","raw_affiliation_strings":["Systems Engineering Research Institute, China State Shipbuilding Corporation (CSSC), Beijing, China"],"raw_orcid":"https://orcid.org/0009-0007-8133-780X","affiliations":[{"raw_affiliation_string":"Systems Engineering Research Institute, China State Shipbuilding Corporation (CSSC), Beijing, China","institution_ids":["https://openalex.org/I4210157899"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5049753726"],"corresponding_institution_ids":["https://openalex.org/I21193070"],"apc_list":null,"apc_paid":null,"fwci":2.2153,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.90110004,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"72","issue":null,"first_page":"1","last_page":"13"},"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":0.9991000294685364,"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"}},"topics":[{"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/T10655","display_name":"GNSS positioning and interference","score":0.9973999857902527,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9965999722480774,"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/outlier","display_name":"Outlier","score":0.7968282699584961},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.7627546787261963},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7232155799865723},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6891456842422485},{"id":"https://openalex.org/keywords/gps/ins","display_name":"GPS/INS","score":0.6421048641204834},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.571039080619812},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.41494330763816833},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4123362600803375},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36011844873428345},{"id":"https://openalex.org/keywords/assisted-gps","display_name":"Assisted GPS","score":0.28069567680358887},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18665719032287598}],"concepts":[{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.7968282699584961},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.7627546787261963},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7232155799865723},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6891456842422485},{"id":"https://openalex.org/C193183557","wikidata":"https://www.wikidata.org/wiki/Q195126","display_name":"GPS/INS","level":4,"score":0.6421048641204834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.571039080619812},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.41494330763816833},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4123362600803375},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36011844873428345},{"id":"https://openalex.org/C198613851","wikidata":"https://www.wikidata.org/wiki/Q432394","display_name":"Assisted GPS","level":3,"score":0.28069567680358887},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18665719032287598},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"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/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},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2023.3293566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3293566","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/G3715419169","display_name":null,"funder_award_id":"51977004","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3780340425","display_name":null,"funder_award_id":"2023YJS010","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G7737130026","display_name":null,"funder_award_id":"52202379","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1998727970","https://openalex.org/W2118164523","https://openalex.org/W2146960482","https://openalex.org/W2188876530","https://openalex.org/W2497643754","https://openalex.org/W2595267022","https://openalex.org/W2737188128","https://openalex.org/W2768676735","https://openalex.org/W2794091565","https://openalex.org/W2891846516","https://openalex.org/W2913690189","https://openalex.org/W2944846513","https://openalex.org/W2950487591","https://openalex.org/W2951837999","https://openalex.org/W2968510159","https://openalex.org/W2969258685","https://openalex.org/W2995170636","https://openalex.org/W2995912724","https://openalex.org/W2997297215","https://openalex.org/W3001529749","https://openalex.org/W3003171805","https://openalex.org/W3018424141","https://openalex.org/W3019510337","https://openalex.org/W3033060502","https://openalex.org/W3047395687","https://openalex.org/W3049728568","https://openalex.org/W3110908921","https://openalex.org/W3168070935","https://openalex.org/W3196651191","https://openalex.org/W3197302491","https://openalex.org/W3205227205","https://openalex.org/W4206324394","https://openalex.org/W4206784501","https://openalex.org/W4226348976","https://openalex.org/W4230595767","https://openalex.org/W4286582010","https://openalex.org/W4293811421","https://openalex.org/W4296772704","https://openalex.org/W4296873425","https://openalex.org/W6754884896"],"related_works":["https://openalex.org/W2535115763","https://openalex.org/W2774512145","https://openalex.org/W2804616432","https://openalex.org/W2374333363","https://openalex.org/W1536127074","https://openalex.org/W2491696768","https://openalex.org/W2612120567","https://openalex.org/W2381185953","https://openalex.org/W2546809649","https://openalex.org/W2143816625"],"abstract_inverted_index":{"The":[0],"Kalman":[1,74],"filter":[2,75],"(KF)":[3],"has":[4],"been":[5],"widely":[6],"used":[7],"in":[8,38,134],"INS/GPS":[9,22,62,157],"tightly":[10,23,63],"coupled":[11,24,64],"integration":[12,25,65],"system.":[13],"However,":[14],"KFs":[15],"are":[16],"prone":[17],"to":[18,53,109,124,169],"divergence":[19],"when":[20],"the":[21,61,89,99,103,111,114,142,149,156],"suffers":[26],"from":[27],"model":[28,150],"uncertainties,":[29],"measurement":[30,115,153],"outliers":[31,154],"caused":[32],"by":[33],"sensor":[34],"errors,":[35],"or":[36],"changes":[37],"hostile":[39],"environment.":[40],"Existing":[41],"studies":[42],"can":[43,145],"hardly":[44],"address":[45],"all":[46],"of":[47,113,136],"these":[48],"conditions.":[49],"In":[50],"this":[51,87,128],"paper,":[52],"ensure":[54],"accurate":[55],"and":[56,68,80,102,127,152,164],"robust":[57,73,130],"positioning":[58],"performance":[59],"for":[60,155],"under":[66],"uncertainties":[67,151],"outliers,":[69,126],"an":[70],"improved":[71],"distributionally":[72],"(DRKF)":[76],"based":[77],"on":[78],"Wasserstein":[79,100],"moment-based":[81,104],"ambiguity":[82,105],"set":[83,106],"is":[84,96,107],"proposed.":[85],"To":[86],"end,":[88],"state":[90,132],"least":[91],"favorable":[92],"conditional":[93],"prior":[94],"distribution":[95,112],"obtained":[97],"using":[98],"metric,":[101],"adopted":[108],"describe":[110],"noise.":[116],"Furthermore,":[117],"we":[118],"use":[119],"a":[120],"novel":[121],"saturation":[122],"mechanism":[123],"suppress":[125],"ensures":[129],"bounded-error":[131],"estimation":[133,162],"presence":[135],"outliers.":[137],"Experimental":[138],"results":[139],"demonstrate":[140],"that":[141],"proposed":[143],"algorithm":[144],"effectively":[146],"deal":[147],"with":[148,160],"navigation":[158],"system,":[159],"higher":[161],"accuracy":[163],"stronger":[165],"robustness":[166],"as":[167],"compared":[168],"most":[170],"relevant":[171],"methods.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
