{"id":"https://openalex.org/W2115642551","doi":"https://doi.org/10.1109/tits.2011.2126569","title":"Time Synchronization Errors in Loosely Coupled GPS-Aided Inertial Navigation Systems","display_name":"Time Synchronization Errors in Loosely Coupled GPS-Aided Inertial Navigation Systems","publication_year":2011,"publication_date":"2011-04-06","ids":{"openalex":"https://openalex.org/W2115642551","doi":"https://doi.org/10.1109/tits.2011.2126569","mag":"2115642551"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2011.2126569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2011.2126569","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","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/A5057769293","display_name":"Isaac Skog","orcid":"https://orcid.org/0000-0002-3054-6413"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Isaac Skog","raw_affiliation_strings":["ACCESS Linnaeus Center, Signal Processing Laboratory, Royal Institute of Technology (KTH), Stockholm, Sweden","Signal Process. Lab., R. Inst. of Technol., Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ACCESS Linnaeus Center, Signal Processing Laboratory, Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Signal Process. Lab., R. Inst. of Technol., Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024989358","display_name":"Peter H\u00e4ndel","orcid":"https://orcid.org/0000-0002-2718-0262"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Peter Handel","raw_affiliation_strings":["ACCESS Linnaeus Center, Signal Processing Laboratory, Royal Institute of Technology (KTH), Stockholm, Sweden","Signal Process. Lab., R. Inst. of Technol., Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ACCESS Linnaeus Center, Signal Processing Laboratory, Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Signal Process. Lab., R. Inst. of Technol., Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":105.0633,"has_fulltext":false,"cited_by_count":71,"citation_normalized_percentile":{"value":0.99808347,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"12","issue":"4","first_page":"1014","last_page":"1023"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9977999925613403,"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":0.9977999925613403,"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/T12216","display_name":"Network Time Synchronization Technologies","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12004","display_name":"Advanced Frequency and Time Standards","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"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":0.7701473832130432},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.7340031862258911},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.7302746772766113},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6460636258125305},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5977362990379333},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.49007904529571533},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.4776778817176819},{"id":"https://openalex.org/keywords/gps/ins","display_name":"GPS/INS","score":0.44913309812545776},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4285825490951538},{"id":"https://openalex.org/keywords/expression","display_name":"Expression (computer science)","score":0.41751012206077576},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3761226534843445},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.2703387439250946},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.22656381130218506},{"id":"https://openalex.org/keywords/assisted-gps","display_name":"Assisted GPS","score":0.2192787528038025},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13479137420654297}],"concepts":[{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.7701473832130432},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.7340031862258911},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.7302746772766113},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6460636258125305},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5977362990379333},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.49007904529571533},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.4776778817176819},{"id":"https://openalex.org/C193183557","wikidata":"https://www.wikidata.org/wiki/Q195126","display_name":"GPS/INS","level":4,"score":0.44913309812545776},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4285825490951538},{"id":"https://openalex.org/C90559484","wikidata":"https://www.wikidata.org/wiki/Q778379","display_name":"Expression (computer science)","level":2,"score":0.41751012206077576},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3761226534843445},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.2703387439250946},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.22656381130218506},{"id":"https://openalex.org/C198613851","wikidata":"https://www.wikidata.org/wiki/Q432394","display_name":"Assisted GPS","level":3,"score":0.2192787528038025},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13479137420654297},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2011.2126569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2011.2126569","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W88708571","https://openalex.org/W138555830","https://openalex.org/W1486476160","https://openalex.org/W1967625005","https://openalex.org/W1975749686","https://openalex.org/W1975973761","https://openalex.org/W1987122197","https://openalex.org/W2024020036","https://openalex.org/W2024045435","https://openalex.org/W2024979819","https://openalex.org/W2061845716","https://openalex.org/W2094496289","https://openalex.org/W2102664783","https://openalex.org/W2108371319","https://openalex.org/W2119873730","https://openalex.org/W2138817759","https://openalex.org/W2141084665","https://openalex.org/W2145979793","https://openalex.org/W2147371342","https://openalex.org/W2150235509","https://openalex.org/W2155595938","https://openalex.org/W2598694169","https://openalex.org/W2616366013","https://openalex.org/W2740145763","https://openalex.org/W6603565268","https://openalex.org/W6605787296","https://openalex.org/W6735005756","https://openalex.org/W6738698768","https://openalex.org/W6742183733"],"related_works":["https://openalex.org/W2393072194","https://openalex.org/W2384461316","https://openalex.org/W2129084366","https://openalex.org/W4306940720","https://openalex.org/W2365620299","https://openalex.org/W2908230821","https://openalex.org/W2159070929","https://openalex.org/W2117654899","https://openalex.org/W2377925676","https://openalex.org/W2381831319"],"abstract_inverted_index":{"The":[0,148],"effects":[1],"of":[2,23,30,40,51,90,106,131,141,168],"data":[3,79,159],"time":[4,61,66,93,160],"synchronization":[5,62,67,94,117,144,156],"errors":[6],"in":[7,21,110],"a":[8,59,72,158,169],"loosely":[9],"coupled":[10],"Global-Positioning-System":[11],"(GPS)-aided":[12],"inertial":[13],"navigation":[14,32,42,108],"system":[15,112],"(INS)":[16],"are":[17],"studied":[18],"and":[19,48,124,138],"quantified":[20],"terms":[22],"the":[24,31,38,41,45,49,52,65,78,88,91,104,107,111,115,129,132,139,142,154,166],"increased":[25],"mean":[26],"square":[27],"error":[28,54,68],"(MSE)":[29],"solution.":[33],"An":[34],"expression":[35,102],"for":[36,103],"evaluating":[37],"MSE":[39,105,134],"solution,":[43],"given":[44],"vehicle":[46],"trajectory":[47],"model":[50],"INS":[53],"dynamics,":[55],"is":[56,69,82,96,119,136,146,163],"derived.":[57,120],"Thereafter,":[58],"software-based":[60],"method,":[63],"where":[64],"included":[70],"as":[71],"state":[73],"to":[74,87,165],"be":[75,173],"estimated":[76],"by":[77],"integration":[80],"filter,":[81],"proposed.":[83],"A":[84],"practical":[85],"approach":[86],"implementation":[89],"proposed":[92,116,143,155],"method":[95,118,145],"also":[97],"briefly":[98],"described.":[99],"Moreover,":[100],"an":[101],"solution":[109],"that":[113],"employs":[114],"Finally,":[121],"through":[122],"simulations":[123],"tests":[125],"with":[126,153],"real-world":[127],"data,":[128],"correctness":[130],"derived":[133],"expressions":[135],"validated,":[137],"application":[140],"shown.":[147],"test":[149],"results":[150],"show":[151],"that,":[152],"approach,":[157],"synchronization,":[161],"which":[162],"accurate":[164],"order":[167],"few":[170],"milliseconds,":[171],"can":[172],"achieved.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
