{"id":"https://openalex.org/W4409883145","doi":"https://doi.org/10.1109/tim.2025.3565028","title":"An Iterated Equivariant Filter and Its Application in Tightly Coupled SINS/GNSS Integrated Navigation","display_name":"An Iterated Equivariant Filter and Its Application in Tightly Coupled SINS/GNSS Integrated Navigation","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4409883145","doi":"https://doi.org/10.1109/tim.2025.3565028"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2025.3565028","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3565028","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/A5101197825","display_name":"Wentao Lu","orcid":"https://orcid.org/0009-0008-0934-2812"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wentao Lu","raw_affiliation_strings":["School of Electronic Information, Wuhan University, Wuhan, China","School of Electronic Information of Wuhan University, Hubei Luojia Laboratory, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0008-0934-2812","affiliations":[{"raw_affiliation_string":"School of Electronic Information, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Electronic Information of Wuhan University, Hubei Luojia Laboratory, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030613989","display_name":"Yarong Luo","orcid":"https://orcid.org/0000-0001-6840-4800"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yarong Luo","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-6840-4800","affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072031132","display_name":"Chi Guo","orcid":"https://orcid.org/0000-0003-2022-2121"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chi Guo","raw_affiliation_strings":["Hubei Luojia Laboratory, Wuhan, China","GNSS Research Center, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-2022-2121","affiliations":[{"raw_affiliation_string":"Hubei Luojia Laboratory, Wuhan, China","institution_ids":[]},{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019208828","display_name":"Weiping Jiang","orcid":"https://orcid.org/0000-0002-3267-9682"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiping Jiang","raw_affiliation_strings":["Hubei Luojia Laboratory, Wuhan, China","GNSS Research Center, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-3267-9682","affiliations":[{"raw_affiliation_string":"Hubei Luojia Laboratory, Wuhan, China","institution_ids":[]},{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":16.8128,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.98586127,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"74","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":0.9976000189781189,"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":0.9976000189781189,"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":0.996999979019165,"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":0.9904999732971191,"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/gnss-applications","display_name":"GNSS applications","score":0.8321487903594971},{"id":"https://openalex.org/keywords/equivariant-map","display_name":"Equivariant map","score":0.6815357208251953},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5936285853385925},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5428104996681213},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5163580179214478},{"id":"https://openalex.org/keywords/iterated-function","display_name":"Iterated function","score":0.4800716042518616},{"id":"https://openalex.org/keywords/satellite-navigation","display_name":"Satellite navigation","score":0.4684733748435974},{"id":"https://openalex.org/keywords/gnss-augmentation","display_name":"GNSS augmentation","score":0.4578056335449219},{"id":"https://openalex.org/keywords/filtering-theory","display_name":"Filtering theory","score":0.4569234848022461},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.3116668164730072},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3108494281768799},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2559305429458618},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.23054718971252441},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.17907166481018066},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1272183656692505},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.08759099245071411}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.8321487903594971},{"id":"https://openalex.org/C171036898","wikidata":"https://www.wikidata.org/wiki/Q256355","display_name":"Equivariant map","level":2,"score":0.6815357208251953},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5936285853385925},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5428104996681213},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5163580179214478},{"id":"https://openalex.org/C140479938","wikidata":"https://www.wikidata.org/wiki/Q5254619","display_name":"Iterated function","level":2,"score":0.4800716042518616},{"id":"https://openalex.org/C36301306","wikidata":"https://www.wikidata.org/wiki/Q179435","display_name":"Satellite navigation","level":3,"score":0.4684733748435974},{"id":"https://openalex.org/C166212672","wikidata":"https://www.wikidata.org/wiki/Q2165162","display_name":"GNSS augmentation","level":4,"score":0.4578056335449219},{"id":"https://openalex.org/C2988922011","wikidata":"https://www.wikidata.org/wiki/Q5449244","display_name":"Filtering theory","level":2,"score":0.4569234848022461},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.3116668164730072},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3108494281768799},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2559305429458618},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.23054718971252441},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.17907166481018066},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1272183656692505},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.08759099245071411},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2025.3565028","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3565028","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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6600000262260437}],"awards":[{"id":"https://openalex.org/G5762397753","display_name":null,"funder_award_id":"2022AAA009","funder_id":"https://openalex.org/F4320335957","funder_display_name":"Major Science and Technology Project of Hainan Province"},{"id":"https://openalex.org/G6306062446","display_name":null,"funder_award_id":"42404025","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/F4320335957","display_name":"Major Science and Technology Project of Hainan Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W69640471","https://openalex.org/W106480167","https://openalex.org/W1557324374","https://openalex.org/W1943808550","https://openalex.org/W2016456873","https://openalex.org/W2094293289","https://openalex.org/W2117730228","https://openalex.org/W2157357823","https://openalex.org/W2228802138","https://openalex.org/W2547074464","https://openalex.org/W2754177129","https://openalex.org/W2758767909","https://openalex.org/W2790185474","https://openalex.org/W2901671944","https://openalex.org/W2990378656","https://openalex.org/W3015812680","https://openalex.org/W3025894736","https://openalex.org/W3111459605","https://openalex.org/W3118701608","https://openalex.org/W3120897329","https://openalex.org/W3128400661","https://openalex.org/W3133648073","https://openalex.org/W3145963815","https://openalex.org/W3194145151","https://openalex.org/W3205297214","https://openalex.org/W4205181589","https://openalex.org/W4205833767","https://openalex.org/W4206907900","https://openalex.org/W4285102326","https://openalex.org/W4301251701","https://openalex.org/W4306248495","https://openalex.org/W4314947430","https://openalex.org/W4315474360","https://openalex.org/W4362608860","https://openalex.org/W4383224655","https://openalex.org/W4388505235","https://openalex.org/W4388919376","https://openalex.org/W4391020948","https://openalex.org/W4392980047","https://openalex.org/W4399039124","https://openalex.org/W4399039876","https://openalex.org/W4401414921","https://openalex.org/W4404687944","https://openalex.org/W6856167774","https://openalex.org/W6858160017","https://openalex.org/W6982608072"],"related_works":["https://openalex.org/W2111396174","https://openalex.org/W4407788424","https://openalex.org/W4376605486","https://openalex.org/W2159868000","https://openalex.org/W4387400587","https://openalex.org/W2524816934","https://openalex.org/W2789784127","https://openalex.org/W2134359053","https://openalex.org/W2613997841","https://openalex.org/W2342980823"],"abstract_inverted_index":{"The":[0],"standard":[1],"extended":[2],"Kalman":[3],"filter":[4,97,121],"(EKF)":[5],"is":[6],"widely":[7],"used":[8],"in":[9,43,130],"integrated":[10],"strapdown":[11],"inertial":[12],"navigation":[13,17],"system":[14,19],"and":[15,41,64,92,126],"global":[16,80],"satellite":[18],"(SINS/GNSS).":[20],"However,":[21],"its":[22],"state-space":[23],"model,":[24],"derived":[25],"from":[26],"traditional":[27],"error":[28],"definitions,":[29],"leads":[30],"to":[31,38,83],"poor":[32],"estimation":[33,124],"consistency.":[34],"Moreover,":[35],"EKF":[36],"fails":[37],"converge":[39],"quickly":[40],"accurately":[42],"scenarios":[44],"with":[45,74,113],"large":[46,88,134],"attitude":[47,135],"misalignment.":[48,136],"To":[49],"address":[50],"these":[51],"issues,":[52],"we":[53,99],"derive":[54],"the":[55,65,75,85,93,119,131],"tightly":[56,66],"coupled":[57,67],"(TC)":[58],"SINS":[59,68],"/":[60,69],"real-time":[61],"kinematic":[62],"(RTK)":[63],"precise":[70],"point":[71],"positioning":[72],"(PPP)":[73],"tangent":[76],"group":[77],"based":[78],"equivariant":[79],"error.":[81],"Furthermore,":[82],"mitigate":[84],"impact":[86],"of":[87],"first-order":[89],"approximation":[90],"errors":[91],"covariance":[94,107],"distortion":[95],"on":[96],"performance,":[98],"proposed":[100,120],"an":[101],"iterated":[102],"EqF":[103],"that":[104,118],"incorporates":[105],"a":[106],"reset":[108],"step.":[109],"Field":[110],"vehicle":[111],"experiments":[112],"low-cost":[114],"SINS/GNSS":[115],"integration":[116],"demonstrate":[117],"exhibits":[122],"superior":[123],"accuracy":[125],"transient":[127],"behavior,":[128],"especially":[129],"scenario":[132],"involving":[133]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}