{"id":"https://openalex.org/W4285506463","doi":"https://doi.org/10.1109/tits.2022.3190023","title":"Robust Vehicle Positioning Based on Multi-Epoch and Multi-Antenna TOAs in Harsh Environments","display_name":"Robust Vehicle Positioning Based on Multi-Epoch and Multi-Antenna TOAs in Harsh Environments","publication_year":2022,"publication_date":"2022-07-15","ids":{"openalex":"https://openalex.org/W4285506463","doi":"https://doi.org/10.1109/tits.2022.3190023"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2022.3190023","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3190023","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2207.08049","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080438153","display_name":"Xinyuan An","orcid":"https://orcid.org/0000-0002-7914-1775"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyuan An","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7914-1775","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006311179","display_name":"Sihao Zhao","orcid":"https://orcid.org/0000-0002-6335-1911"},"institutions":[{"id":"https://openalex.org/I4210135329","display_name":"NovAtel (Canada)","ror":"https://ror.org/03pge2g16","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210135329"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Sihao Zhao","raw_affiliation_strings":["NovAtel, Autonomy and Positioning Division of Hexagon, Calgary, AB, Canada"],"raw_orcid":"https://orcid.org/0000-0002-6335-1911","affiliations":[{"raw_affiliation_string":"NovAtel, Autonomy and Positioning Division of Hexagon, Calgary, AB, Canada","institution_ids":["https://openalex.org/I4210135329"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043550848","display_name":"Xiaowei Cui","orcid":"https://orcid.org/0000-0003-0545-7408"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaowei Cui","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0545-7408","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100412387","display_name":"Gang Liu","orcid":"https://orcid.org/0000-0001-6676-6621"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Liu","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6676-6621","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032262275","display_name":"Mingquan Lu","orcid":"https://orcid.org/0000-0002-7767-6661"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingquan Lu","raw_affiliation_strings":["Department of Electronic Engineering, Beijing National Research Center for Information Science and Technology, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Beijing National Research Center for Information Science and Technology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4127,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.80548943,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"23","issue":"11","first_page":"21074","last_page":"21089"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"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"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9979000091552734,"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":0.9968000054359436,"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/initialization","display_name":"Initialization","score":0.8449286222457886},{"id":"https://openalex.org/keywords/cram\u00e9r\u2013rao-bound","display_name":"Cram\u00e9r\u2013Rao bound","score":0.8220834136009216},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7178263664245605},{"id":"https://openalex.org/keywords/time-of-arrival","display_name":"Time of arrival","score":0.6695855259895325},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4602673351764679},{"id":"https://openalex.org/keywords/antenna","display_name":"Antenna (radio)","score":0.439532607793808},{"id":"https://openalex.org/keywords/precise-point-positioning","display_name":"Precise Point Positioning","score":0.43494266271591187},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.4279947876930237},{"id":"https://openalex.org/keywords/multilateration","display_name":"Multilateration","score":0.4264037013053894},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.42468714714050293},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.4160313904285431},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.37582147121429443},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32569456100463867},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3247402310371399},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.2286696434020996},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.21639969944953918},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.18899428844451904},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18372273445129395},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.07136282324790955}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.8449286222457886},{"id":"https://openalex.org/C4978587","wikidata":"https://www.wikidata.org/wiki/Q1138810","display_name":"Cram\u00e9r\u2013Rao bound","level":3,"score":0.8220834136009216},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7178263664245605},{"id":"https://openalex.org/C163150518","wikidata":"https://www.wikidata.org/wiki/Q4135208","display_name":"Time of arrival","level":3,"score":0.6695855259895325},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4602673351764679},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.439532607793808},{"id":"https://openalex.org/C202511199","wikidata":"https://www.wikidata.org/wiki/Q7239503","display_name":"Precise Point Positioning","level":4,"score":0.43494266271591187},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.4279947876930237},{"id":"https://openalex.org/C104037064","wikidata":"https://www.wikidata.org/wiki/Q1640884","display_name":"Multilateration","level":3,"score":0.4264037013053894},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.42468714714050293},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.4160313904285431},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.37582147121429443},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32569456100463867},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3247402310371399},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.2286696434020996},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.21639969944953918},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.18899428844451904},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18372273445129395},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.07136282324790955},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C159737794","wikidata":"https://www.wikidata.org/wiki/Q124274","display_name":"Azimuth","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":2,"locations":[{"id":"doi:10.1109/tits.2022.3190023","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3190023","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"},{"id":"pmh:oai:arXiv.org:2207.08049","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2207.08049","pdf_url":"https://arxiv.org/pdf/2207.08049","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2207.08049","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2207.08049","pdf_url":"https://arxiv.org/pdf/2207.08049","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.46000000834465027,"id":"https://metadata.un.org/sdg/1","display_name":"No poverty"}],"awards":[{"id":"https://openalex.org/G7275162648","display_name":null,"funder_award_id":"2021YFA0716603","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":77,"referenced_works":["https://openalex.org/W11121682","https://openalex.org/W52595059","https://openalex.org/W250076511","https://openalex.org/W592904438","https://openalex.org/W605763459","https://openalex.org/W1568307856","https://openalex.org/W1582056261","https://openalex.org/W1967073510","https://openalex.org/W1975847068","https://openalex.org/W1991762554","https://openalex.org/W1997917355","https://openalex.org/W2003739186","https://openalex.org/W2012197287","https://openalex.org/W2036165522","https://openalex.org/W2038166203","https://openalex.org/W2038946940","https://openalex.org/W2049444669","https://openalex.org/W2101823128","https://openalex.org/W2110478555","https://openalex.org/W2125777976","https://openalex.org/W2143541915","https://openalex.org/W2145670109","https://openalex.org/W2146881125","https://openalex.org/W2148750450","https://openalex.org/W2156668452","https://openalex.org/W2161133863","https://openalex.org/W2161644760","https://openalex.org/W2167342870","https://openalex.org/W2284520540","https://openalex.org/W2333846324","https://openalex.org/W2335083313","https://openalex.org/W2347942784","https://openalex.org/W2461937780","https://openalex.org/W2557035147","https://openalex.org/W2621274416","https://openalex.org/W2750669109","https://openalex.org/W2771588842","https://openalex.org/W2773565968","https://openalex.org/W2776024871","https://openalex.org/W2802197834","https://openalex.org/W2809953622","https://openalex.org/W2819355127","https://openalex.org/W2891816725","https://openalex.org/W2902750893","https://openalex.org/W2907512337","https://openalex.org/W2946251357","https://openalex.org/W2961619538","https://openalex.org/W2979329153","https://openalex.org/W2982879296","https://openalex.org/W2989698267","https://openalex.org/W2991157920","https://openalex.org/W2994479980","https://openalex.org/W2998994308","https://openalex.org/W3006893503","https://openalex.org/W3014394289","https://openalex.org/W3026147355","https://openalex.org/W3027645902","https://openalex.org/W3029142183","https://openalex.org/W3098689266","https://openalex.org/W3107185102","https://openalex.org/W3120214750","https://openalex.org/W3124420883","https://openalex.org/W3128548201","https://openalex.org/W3128707666","https://openalex.org/W3134396415","https://openalex.org/W3138966569","https://openalex.org/W3168070935","https://openalex.org/W3178911622","https://openalex.org/W3181566022","https://openalex.org/W4229706427","https://openalex.org/W4233159434","https://openalex.org/W4242209908","https://openalex.org/W4250589301","https://openalex.org/W6602146531","https://openalex.org/W6634992919","https://openalex.org/W6681624763","https://openalex.org/W6778351142"],"related_works":["https://openalex.org/W2095065017","https://openalex.org/W2138144598","https://openalex.org/W1974000248","https://openalex.org/W2082904991","https://openalex.org/W2171533994","https://openalex.org/W2066348132","https://openalex.org/W2082010652","https://openalex.org/W2099208041","https://openalex.org/W2085803349","https://openalex.org/W2132956114"],"abstract_inverted_index":{"For":[0],"radio-based":[1],"time-of-arrival":[2],"(TOA)":[3],"positioning":[4,41,104,143,171,214,230],"systems":[5],"applied":[6],"in":[7,11,184],"harsh":[8,185],"environments,":[9],"obstacles":[10],"the":[12,16,21,24,27,36,78,95,125,129,141,147,152,159,162,174,190,201,207,211,220,224,237],"surroundings":[13],"and":[14,33,51,80,93,167,177,204,216],"on":[15,114,146],"vehicle":[17],"itself":[18],"will":[19],"block":[20],"signals":[22],"from":[23,53],"anchors,":[25,99],"reduce":[26],"number":[28,59],"of":[29,60,66,77,97,128,161,210],"available":[30],"TOA":[31,61,83],"measurements":[32,62,84],"thus":[34],"degrade":[35],"localization":[37,180],"performance.":[38],"Conventional":[39],"multi-antenna":[40,81,178],"technique":[42],"requires":[43],"a":[44,69,102],"good":[45],"initialization":[46,111,126],"to":[47,57,89,123,139,157,200],"avoid":[48],"local":[49],"minima,":[50],"suffers":[52],"location":[54,233],"ambiguity":[55],"due":[56],"insufficient":[58],"and/or":[63],"poor":[64],"geometry":[65,96],"anchors":[67],"at":[68],"single":[70],"epoch.":[71],"In":[72],"this":[73],"paper,":[74],"taking":[75],"advantage":[76],"multi-epoch":[79],"(MEMA)":[82],"bridged":[85],"by":[86],"inter-epoch":[87],"constraints":[88],"utilize":[90],"more":[91],"information":[92],"improve":[94],"visible":[98],"we":[100],"propose":[101],"new":[103,110,163,191,225],"method,":[105,223],"namely":[106,118],"MEMA-TOA":[107,130,164,226],"method.":[108,131,181],"A":[109],"method":[112,165,227],"based":[113,145],"semidefinite":[115],"programming":[116],"(SDP),":[117],"MEMA-SDP,":[119],"is":[120,137,198],"first":[121],"designed":[122],"address":[124],"problem":[127],"Then,":[132],"an":[133,194],"iterative":[134],"refinement":[135],"step":[136],"developed":[138],"obtain":[140],"optimal":[142],"result":[144],"MEMA-SDP":[148,192],"initialization.":[149],"We":[150],"derive":[151],"Cram\u00e9r-Rao":[153],"lower":[154],"bound":[155],"(CRLB)":[156],"analyze":[158],"accuracy":[160,231],"theoretically,":[166],"show":[168],"its":[169],"superior":[170],"performance":[172],"over":[173],"conventional":[175,221],"single-epoch":[176],"(SEMA)":[179],"Simulation":[182],"results":[183],"environments":[186],"demonstrate":[187],"that":[188,197],"i)":[189],"provides":[193],"initial":[195],"estimation":[196],"close":[199],"real":[202],"location,":[203],"empirically":[205],"guarantees":[206],"global":[208],"optimality":[209],"final":[212],"refined":[213],"solution,":[215],"ii)":[217],"compared":[218],"with":[219,236],"SEMA":[222],"has":[228],"higher":[229],"without":[232],"ambiguity,":[234],"consistent":[235],"theoretical":[238],"analysis.":[239]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2022-07-15T00:00:00"}