{"id":"https://openalex.org/W4226293621","doi":"https://doi.org/10.1109/tits.2022.3149373","title":"Integrity Monitoring of GNSS/INS Based Positioning Systems for Autonomous Vehicles: State-of-the-Art and Open Challenges","display_name":"Integrity Monitoring of GNSS/INS Based Positioning Systems for Autonomous Vehicles: State-of-the-Art and Open Challenges","publication_year":2022,"publication_date":"2022-03-08","ids":{"openalex":"https://openalex.org/W4226293621","doi":"https://doi.org/10.1109/tits.2022.3149373"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2022.3149373","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3149373","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/A5033943749","display_name":"Hao Jing","orcid":"https://orcid.org/0000-0003-0797-5460"},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hao Jing","raw_affiliation_strings":["Warwick Manufacturing Group, The University of Warwick, Coventry, U.K"],"raw_orcid":"https://orcid.org/0000-0003-0797-5460","affiliations":[{"raw_affiliation_string":"Warwick Manufacturing Group, The University of Warwick, Coventry, U.K","institution_ids":["https://openalex.org/I39555362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079857513","display_name":"Yang Gao","orcid":"https://orcid.org/0000-0001-6756-4183"},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yang Gao","raw_affiliation_strings":["Warwick Manufacturing Group, The University of Warwick, Coventry, U.K"],"raw_orcid":"https://orcid.org/0000-0001-6756-4183","affiliations":[{"raw_affiliation_string":"Warwick Manufacturing Group, The University of Warwick, Coventry, U.K","institution_ids":["https://openalex.org/I39555362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059185014","display_name":"Sepeedeh Shahbeigi","orcid":"https://orcid.org/0000-0002-4405-5754"},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sepeedeh Shahbeigi","raw_affiliation_strings":["Warwick Manufacturing Group, The University of Warwick, Coventry, U.K"],"raw_orcid":"https://orcid.org/0000-0002-4405-5754","affiliations":[{"raw_affiliation_string":"Warwick Manufacturing Group, The University of Warwick, Coventry, U.K","institution_ids":["https://openalex.org/I39555362"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068530392","display_name":"Mehrdad Dianati","orcid":"https://orcid.org/0000-0001-5119-4499"},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mehrdad Dianati","raw_affiliation_strings":["Warwick Manufacturing Group, The University of Warwick, Coventry, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5119-4499","affiliations":[{"raw_affiliation_string":"Warwick Manufacturing Group, The University of Warwick, Coventry, U.K","institution_ids":["https://openalex.org/I39555362"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":15.954,"has_fulltext":false,"cited_by_count":125,"citation_normalized_percentile":{"value":0.99291932,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"23","issue":"9","first_page":"14166","last_page":"14187"},"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":0.9990000128746033,"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":0.9990000128746033,"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":0.9987999796867371,"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":0.9962000250816345,"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":0.8234518766403198},{"id":"https://openalex.org/keywords/gnss-augmentation","display_name":"GNSS augmentation","score":0.548676073551178},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5484585762023926},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5212850570678711},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.4945797622203827},{"id":"https://openalex.org/keywords/satellite-navigation","display_name":"Satellite navigation","score":0.49178341031074524},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.48567426204681396},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.44698381423950195},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.44295603036880493},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4294186234474182},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4268898665904999},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.42095616459846497},{"id":"https://openalex.org/keywords/air-navigation","display_name":"Air navigation","score":0.4182000458240509},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3687402009963989},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23768168687820435},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.17868056893348694},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.13632360100746155},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.10771363973617554}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.8234518766403198},{"id":"https://openalex.org/C166212672","wikidata":"https://www.wikidata.org/wiki/Q2165162","display_name":"GNSS augmentation","level":4,"score":0.548676073551178},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5484585762023926},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5212850570678711},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.4945797622203827},{"id":"https://openalex.org/C36301306","wikidata":"https://www.wikidata.org/wiki/Q179435","display_name":"Satellite navigation","level":3,"score":0.49178341031074524},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.48567426204681396},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.44698381423950195},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.44295603036880493},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4294186234474182},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4268898665904999},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.42095616459846497},{"id":"https://openalex.org/C504623915","wikidata":"https://www.wikidata.org/wiki/Q1427822","display_name":"Air navigation","level":3,"score":0.4182000458240509},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3687402009963989},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23768168687820435},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.17868056893348694},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.13632360100746155},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.10771363973617554},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2022.3149373","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3149373","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":[{"id":"https://openalex.org/G1672142431","display_name":"TASCC: Secure Cloud-based Distributed Control (SCDC) Systems for Connected Autonomous Cars","funder_award_id":"EP/N01300X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G1695958728","display_name":null,"funder_award_id":"723051","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G2919768833","display_name":null,"funder_award_id":"EP/N01300X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4806304024","display_name":null,"funder_award_id":"EP/N01300X/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320320279","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":147,"referenced_works":["https://openalex.org/W192440221","https://openalex.org/W311268609","https://openalex.org/W629575385","https://openalex.org/W1564768010","https://openalex.org/W1619072405","https://openalex.org/W1966244759","https://openalex.org/W1973131250","https://openalex.org/W1973162720","https://openalex.org/W1974895452","https://openalex.org/W1980212123","https://openalex.org/W2002947147","https://openalex.org/W2005364253","https://openalex.org/W2007895579","https://openalex.org/W2011709737","https://openalex.org/W2013147062","https://openalex.org/W2013983088","https://openalex.org/W2020018045","https://openalex.org/W2020336804","https://openalex.org/W2022646364","https://openalex.org/W2024373600","https://openalex.org/W2024669213","https://openalex.org/W2025124525","https://openalex.org/W2026702887","https://openalex.org/W2028311816","https://openalex.org/W2029143333","https://openalex.org/W2030594149","https://openalex.org/W2034006142","https://openalex.org/W2038678236","https://openalex.org/W2040885394","https://openalex.org/W2054091988","https://openalex.org/W2057910921","https://openalex.org/W2061893460","https://openalex.org/W2063905925","https://openalex.org/W2071291395","https://openalex.org/W2074690548","https://openalex.org/W2074704710","https://openalex.org/W2076283917","https://openalex.org/W2080647722","https://openalex.org/W2082585239","https://openalex.org/W2088669451","https://openalex.org/W2089074378","https://openalex.org/W2093867810","https://openalex.org/W2101062765","https://openalex.org/W2102664783","https://openalex.org/W2110235183","https://openalex.org/W2110572716","https://openalex.org/W2110740148","https://openalex.org/W2112716728","https://openalex.org/W2114623249","https://openalex.org/W2114818406","https://openalex.org/W2117942029","https://openalex.org/W2118164523","https://openalex.org/W2119239999","https://openalex.org/W2128376987","https://openalex.org/W2133085864","https://openalex.org/W2134738694","https://openalex.org/W2145938889","https://openalex.org/W2146273009","https://openalex.org/W2165221066","https://openalex.org/W2253679179","https://openalex.org/W2259651363","https://openalex.org/W2294335758","https://openalex.org/W2338973611","https://openalex.org/W2405786240","https://openalex.org/W2416243518","https://openalex.org/W2480859604","https://openalex.org/W2533001766","https://openalex.org/W2560865684","https://openalex.org/W2574700614","https://openalex.org/W2593182419","https://openalex.org/W2600642072","https://openalex.org/W2610542981","https://openalex.org/W2757828560","https://openalex.org/W2770020303","https://openalex.org/W2770866044","https://openalex.org/W2774730163","https://openalex.org/W2781561575","https://openalex.org/W2783836526","https://openalex.org/W2800960155","https://openalex.org/W2805515021","https://openalex.org/W2806560002","https://openalex.org/W2877467066","https://openalex.org/W2884693429","https://openalex.org/W2890897099","https://openalex.org/W2897059871","https://openalex.org/W2898094349","https://openalex.org/W2899133286","https://openalex.org/W2900157460","https://openalex.org/W2903967349","https://openalex.org/W2905230970","https://openalex.org/W2948273655","https://openalex.org/W2953098387","https://openalex.org/W2962213370","https://openalex.org/W2964775909","https://openalex.org/W2967265204","https://openalex.org/W2968549433","https://openalex.org/W2974131022","https://openalex.org/W2979385915","https://openalex.org/W2979445798","https://openalex.org/W2979619992","https://openalex.org/W2979954150","https://openalex.org/W2980129578","https://openalex.org/W2980972218","https://openalex.org/W2986993016","https://openalex.org/W2987622454","https://openalex.org/W2996945478","https://openalex.org/W2998632926","https://openalex.org/W2999313070","https://openalex.org/W3004051486","https://openalex.org/W3009713177","https://openalex.org/W3012103261","https://openalex.org/W3016861009","https://openalex.org/W3021104569","https://openalex.org/W3032120116","https://openalex.org/W3032416800","https://openalex.org/W3034731106","https://openalex.org/W3085645976","https://openalex.org/W3097578768","https://openalex.org/W3103406720","https://openalex.org/W3105134469","https://openalex.org/W3112637636","https://openalex.org/W3130369810","https://openalex.org/W3154794487","https://openalex.org/W3164589005","https://openalex.org/W4243165515","https://openalex.org/W4395700262","https://openalex.org/W6600678030","https://openalex.org/W6616420321","https://openalex.org/W6633654525","https://openalex.org/W6636365385","https://openalex.org/W6636611368","https://openalex.org/W6669584864","https://openalex.org/W6681158678","https://openalex.org/W6696316696","https://openalex.org/W6707233813","https://openalex.org/W6713553799","https://openalex.org/W6721887335","https://openalex.org/W6733541225","https://openalex.org/W6733839138","https://openalex.org/W6735096979","https://openalex.org/W6735768555","https://openalex.org/W6736176018","https://openalex.org/W6737490952","https://openalex.org/W6740326512","https://openalex.org/W6756208335","https://openalex.org/W7028493289","https://openalex.org/W7029101279"],"related_works":["https://openalex.org/W2765514429","https://openalex.org/W1940389892","https://openalex.org/W2366369268","https://openalex.org/W2371986717","https://openalex.org/W2159868000","https://openalex.org/W3141401321","https://openalex.org/W2393713006","https://openalex.org/W2372571941","https://openalex.org/W2355031247","https://openalex.org/W2377925798"],"abstract_inverted_index":{"Positioning":[0],"and":[1,17,37,72,101,114,147,184],"navigation":[2,45,70,118,125],"are":[3,31,47,121,154],"critical":[4],"functions":[5],"of":[6,39,53,63,77,82,136,144,162,168,178],"automated":[7,54,87,129],"driving":[8,55,130],"functions,":[9],"which":[10,30,120],"help":[11],"autonomous":[12],"vehicles":[13],"determine":[14],"their":[15],"absolute":[16],"relative":[18],"positions":[19],"in":[20],"the":[21,35,40,44,51,64,75,78,142,169,175,179],"environment":[22],"that":[23],"they":[24],"operate.":[25],"Integrity":[26],"Monitoring":[27],"(IM)":[28],"systems,":[29,46,119],"intended":[32],"to":[33,150,156,174],"assess":[34],"reliability":[36],"trustworthiness":[38],"information":[41],"provided":[42],"by":[43],"crucial":[48],"for":[49,68,85,95,111,123],"ensuring":[50],"safety":[52],"functions.":[56,131],"This":[57],"paper":[58],"provides":[59],"a":[60],"comprehensive":[61],"review":[62],"existing":[65],"IM":[66,93,110,164],"frameworks":[67],"safety-critical":[69],"applications":[71],"expands":[73],"on":[74,92],"state-of-the-art":[76],"most":[79],"recent":[80],"development":[81],"such":[83,127,140],"systems":[84],"connected":[86],"vehicles.":[88],"We":[89],"mainly":[90],"focus":[91],"methods":[94],"Global":[96],"Navigation":[97,103],"Satellite":[98],"Systems":[99,104],"(GNSS)":[100],"Inertial":[102],"(INS).":[105],"However,":[106],"we":[107],"also":[108],"cover":[109],"map":[112],"assisted":[113],"wireless":[115],"signal":[116],"augmented":[117],"promising":[122],"high-performance":[124],"applications,":[126],"as":[128,141],"For":[132],"each":[133],"main":[134],"category":[135],"solutions,":[137],"key":[138],"aspects":[139],"characteristics":[143],"measurement":[145],"errors":[146],"faults":[148],"related":[149],"various":[151],"data":[152],"sources":[153],"discussed":[155],"provide":[157],"deeper":[158],"insights":[159],"into":[160],"designing":[161],"reliable":[163],"systems.":[165],"Also,":[166],"some":[167],"major":[170],"open":[171],"research":[172],"challenges":[173],"best":[176],"knowledge":[177],"authors":[180],"have":[181],"been":[182],"identified":[183],"discussed.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":51},{"year":2024,"cited_by_count":35},{"year":2023,"cited_by_count":24},{"year":2022,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
