{"id":"https://openalex.org/W4385489521","doi":"https://doi.org/10.1109/tim.2023.3301041","title":"A Decoupled-DCM Orientation Estimator for Eliminating Influence of Magnetic Interference on Roll Angle and Pitch Angle","display_name":"A Decoupled-DCM Orientation Estimator for Eliminating Influence of Magnetic Interference on Roll Angle and Pitch Angle","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4385489521","doi":"https://doi.org/10.1109/tim.2023.3301041"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2023.3301041","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3301041","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/A5058775323","display_name":"Naixin Yi","orcid":"https://orcid.org/0000-0002-3201-5595"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Naixin Yi","raw_affiliation_strings":["College of Space Science and Technology, Xidian University of Electronic Science and Technology, Xi&#x2019;an, China"],"raw_orcid":"https://orcid.org/0000-0002-3201-5595","affiliations":[{"raw_affiliation_string":"College of Space Science and Technology, Xidian University of Electronic Science and Technology, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047737468","display_name":"Wei Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Sun","raw_affiliation_strings":["College of Space Science and Technology, Xidian University of Electronic Science and Technology, Xi&#x2019;an, China"],"raw_orcid":"https://orcid.org/0000-0001-7469-8999","affiliations":[{"raw_affiliation_string":"College of Space Science and Technology, Xidian University of Electronic Science and Technology, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006302078","display_name":"X. Zhou","orcid":"https://orcid.org/0000-0002-3245-503X"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuyang Zhou","raw_affiliation_strings":["College of Space Science and Technology, Xidian University of Electronic Science and Technology, Xi&#x2019;an, China"],"raw_orcid":"https://orcid.org/0000-0002-3245-503X","affiliations":[{"raw_affiliation_string":"College of Space Science and Technology, Xidian University of Electronic Science and Technology, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101855184","display_name":"Long Chen","orcid":"https://orcid.org/0000-0003-4617-5933"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Chen","raw_affiliation_strings":["College of Space Science and Technology, Xidian University of Electronic Science and Technology, Xi&#x2019;an, China"],"raw_orcid":"https://orcid.org/0000-0003-4617-5933","affiliations":[{"raw_affiliation_string":"College of Space Science and Technology, Xidian University of Electronic Science and Technology, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077729329","display_name":"J. Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiguan Zhang","raw_affiliation_strings":["College of Space Science and Technology, Xidian University of Electronic Science and Technology, Xi&#x2019;an, China"],"raw_orcid":"https://orcid.org/0000-0002-3846-1641","affiliations":[{"raw_affiliation_string":"College of Space Science and Technology, Xidian University of Electronic Science and Technology, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102717045","display_name":"Dong Han","orcid":"https://orcid.org/0000-0002-6076-0971"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Han","raw_affiliation_strings":["College of Space Science and Technology, Xidian University of Electronic Science and Technology, Xi&#x2019;an, China"],"raw_orcid":"https://orcid.org/0000-0002-6076-0971","affiliations":[{"raw_affiliation_string":"College of Space Science and Technology, Xidian University of Electronic Science and Technology, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101786001","display_name":"Changhao Sun","orcid":"https://orcid.org/0000-0002-2262-969X"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changhao Sun","raw_affiliation_strings":["College of Space Science and Technology, Xidian University of Electronic Science and Technology, Xi&#x2019;an, China"],"raw_orcid":"https://orcid.org/0000-0002-2262-969X","affiliations":[{"raw_affiliation_string":"College of Space Science and Technology, Xidian University of Electronic Science and Technology, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I149594827"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I149594827"],"apc_list":null,"apc_paid":null,"fwci":3.641,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.93486234,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"72","issue":null,"first_page":"1","last_page":"14"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9966999888420105,"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":0.9921000003814697,"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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6572718620300293},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6328314542770386},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5500383377075195},{"id":"https://openalex.org/keywords/direction-cosine","display_name":"Direction cosine","score":0.4933129847049713},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.4681316614151001},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.44567254185676575},{"id":"https://openalex.org/keywords/pitch-angle","display_name":"Pitch angle","score":0.44229114055633545},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.44201168417930603},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4121581017971039},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37955242395401},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31452780961990356},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20132499933242798},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19852066040039062},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1243126392364502},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.09940165281295776}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6572718620300293},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6328314542770386},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5500383377075195},{"id":"https://openalex.org/C9578719","wikidata":"https://www.wikidata.org/wiki/Q2518906","display_name":"Direction cosine","level":2,"score":0.4933129847049713},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.4681316614151001},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.44567254185676575},{"id":"https://openalex.org/C2777581452","wikidata":"https://www.wikidata.org/wiki/Q4363928","display_name":"Pitch angle","level":2,"score":0.44229114055633545},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.44201168417930603},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4121581017971039},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37955242395401},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31452780961990356},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20132499933242798},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19852066040039062},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1243126392364502},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.09940165281295776},{"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/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2023.3301041","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3301041","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/G1189496713","display_name":null,"funder_award_id":"YJS2217","funder_id":"https://openalex.org/F4320323230","funder_display_name":"Xidian University"},{"id":"https://openalex.org/G6202505510","display_name":null,"funder_award_id":"2022ZDLGY03-01","funder_id":"https://openalex.org/F4320329783","funder_display_name":"Key Industry Innovation Chain of Shaanxi"},{"id":"https://openalex.org/G6856280856","display_name":null,"funder_award_id":"62173330","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/F4320323230","display_name":"Xidian University","ror":"https://ror.org/05s92vm98"},{"id":"https://openalex.org/F4320329783","display_name":"Key Industry Innovation Chain of Shaanxi","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W768091043","https://openalex.org/W1968645154","https://openalex.org/W1980586747","https://openalex.org/W1985853728","https://openalex.org/W2006863675","https://openalex.org/W2020934227","https://openalex.org/W2040378481","https://openalex.org/W2049610041","https://openalex.org/W2049918078","https://openalex.org/W2070299141","https://openalex.org/W2094201513","https://openalex.org/W2108795408","https://openalex.org/W2117730228","https://openalex.org/W2120665422","https://openalex.org/W2132240870","https://openalex.org/W2139019018","https://openalex.org/W2143988270","https://openalex.org/W2160146756","https://openalex.org/W2161872204","https://openalex.org/W2170778989","https://openalex.org/W2199469138","https://openalex.org/W2280783722","https://openalex.org/W2316001447","https://openalex.org/W2332797954","https://openalex.org/W2466559273","https://openalex.org/W2608231861","https://openalex.org/W2735943270","https://openalex.org/W2754677331","https://openalex.org/W2756261867","https://openalex.org/W2781125408","https://openalex.org/W2793845166","https://openalex.org/W2811317862","https://openalex.org/W2902093375","https://openalex.org/W2907945876","https://openalex.org/W2978274398","https://openalex.org/W2980426560","https://openalex.org/W2997249751","https://openalex.org/W2999580541","https://openalex.org/W3025894736","https://openalex.org/W3087020486","https://openalex.org/W3095690964","https://openalex.org/W3102312875","https://openalex.org/W3121055581","https://openalex.org/W3135112029","https://openalex.org/W4206629370","https://openalex.org/W4289145348","https://openalex.org/W6622271133","https://openalex.org/W6655473528"],"related_works":["https://openalex.org/W2055147561","https://openalex.org/W2032419417","https://openalex.org/W2703006878","https://openalex.org/W2111018862","https://openalex.org/W2182393246","https://openalex.org/W4239579587","https://openalex.org/W1962943814","https://openalex.org/W2153190275","https://openalex.org/W2103062922","https://openalex.org/W2162299404"],"abstract_inverted_index":{"For":[0],"mobile":[1,10],"robots,":[2],"attitude":[3,34,41,64,89,101,136,163,213],"information":[4],"plays":[5],"a":[6,39,99,110],"crucial":[7],"role":[8],"in":[9,83,212],"robot":[11,26],"applications.":[12],"However,":[13],"the":[14,55,60,84,87,94,124,127,133,140,143,150,159,167,198],"real-time":[15],"positioning":[16],"of":[17,62,105,113,126,135,142,200],"robots":[18],"is":[19,107],"often":[20],"hindered":[21],"by":[22],"issues":[23],"such":[24],"as":[25,54],"motion,":[27],"local":[28],"magnetic":[29,76,201],"field":[30],"interference,":[31],"and":[32,73,118,139,153,181,188,205],"coupled":[33],"estimation.":[35],"This":[36,121],"paper":[37,147],"proposes":[38],"double-layer":[40],"estimation":[42,215],"algorithm":[43,58],"based":[44],"on":[45,203],"error":[46],"states,":[47],"utilizing":[48],"decoupled":[49,88,162],"Direction":[50],"Cosine":[51],"Matrix":[52],"(DCM)":[53],"output.":[56],"The":[57,146],"addresses":[59],"limitations":[61],"traditional":[63],"calculation":[65],"methods,":[66],"which":[67],"suffer":[68],"from":[69,158],"large":[70],"nonlinear":[71],"errors":[72,90],"susceptibility":[74],"to":[75,93,175,216],"interference.":[77],"By":[78],"employing":[79],"an":[80],"exponential":[81],"mapping":[82],"Lie":[85],"algebra,":[86],"are":[91,173],"updated":[92],"previous":[95],"moment":[96],"state.":[97],"Moreover,":[98],"novel":[100],"angle":[102,137,164,214],"decoupling":[103],"method":[104],"DCM":[106],"introduced,":[108],"enabling":[109],"new":[111],"representation":[112,122,138,165],"pitch":[114,204],"angle,":[115,117],"roll":[116,206],"azimuth":[119],"angle.":[120],"retains":[123],"advantages":[125],"direction":[128],"cosine":[129],"matrix":[130],"while":[131,208],"reducing":[132],"dimensionality":[134],"nonlinearity":[141],"observation":[144],"equation.":[145],"further":[148],"presents":[149],"\"multiplicative":[151],"update\"":[152],"\"covariance":[154],"correction":[155],"step\"":[156],"derived":[157],"newly":[160],"proposed":[161],"within":[166],"manifold":[168],"space":[169],"filtering.":[170],"These":[171],"concepts":[172],"applied":[174],"both":[176,193],"Extended":[177],"Kalman":[178,183],"Filter":[179,184],"(EKF)":[180],"Unscented":[182],"(UKF)":[185],"frameworks.":[186],"Static":[187],"dynamic":[189],"tests":[190],"demonstrate":[191],"that":[192],"filtering":[194],"algorithms":[195],"effectively":[196],"eliminate":[197],"influence":[199],"interference":[202],"angles,":[207],"achieving":[209],"comparable":[210],"accuracy":[211],"state-of-the-art":[217],"algorithms.":[218]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
