{"id":"https://openalex.org/W4294310692","doi":"https://doi.org/10.1109/tits.2022.3202139","title":"Radar-Based Multisensor Fusion for Uninterrupted Reliable Positioning in GNSS-Denied Environments","display_name":"Radar-Based Multisensor Fusion for Uninterrupted Reliable Positioning in GNSS-Denied Environments","publication_year":2022,"publication_date":"2022-09-02","ids":{"openalex":"https://openalex.org/W4294310692","doi":"https://doi.org/10.1109/tits.2022.3202139"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2022.3202139","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3202139","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/A5011940709","display_name":"Emma Dawson","orcid":"https://orcid.org/0000-0002-8321-5124"},"institutions":[{"id":"https://openalex.org/I204722609","display_name":"Queen's University","ror":"https://ror.org/02y72wh86","country_code":"CA","type":"education","lineage":["https://openalex.org/I204722609"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Emma Dawson","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Queen&#x2019;s University, Kingston, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-8321-5124","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Queen&#x2019;s University, Kingston, ON, Canada","institution_ids":["https://openalex.org/I204722609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026726238","display_name":"Marwan A. Rashed","orcid":null},"institutions":[{"id":"https://openalex.org/I204722609","display_name":"Queen's University","ror":"https://ror.org/02y72wh86","country_code":"CA","type":"education","lineage":["https://openalex.org/I204722609"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Marwan A. Rashed","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Queen&#x2019;s University, Kingston, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Queen&#x2019;s University, Kingston, ON, Canada","institution_ids":["https://openalex.org/I204722609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005804546","display_name":"Walid Abdelfatah","orcid":null},"institutions":[{"id":"https://openalex.org/I204722609","display_name":"Queen's University","ror":"https://ror.org/02y72wh86","country_code":"CA","type":"education","lineage":["https://openalex.org/I204722609"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Walid Abdelfatah","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Queen&#x2019;s University, Kingston, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Queen&#x2019;s University, Kingston, ON, Canada","institution_ids":["https://openalex.org/I204722609"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091253792","display_name":"Aboelmagd Noureldin","orcid":"https://orcid.org/0000-0001-6614-7783"},"institutions":[{"id":"https://openalex.org/I51768193","display_name":"Royal Military College of Canada","ror":"https://ror.org/04yr71909","country_code":"CA","type":"education","lineage":["https://openalex.org/I51768193"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Aboelmagd Noureldin","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Royal Military College of Canada, Kingston, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0001-6614-7783","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Royal Military College of Canada, Kingston, ON, Canada","institution_ids":["https://openalex.org/I51768193"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.1392,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.92283572,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"23","issue":"12","first_page":"23384","last_page":"23398"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9995999932289124,"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":0.9995999932289124,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9991999864578247,"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":0.7948882579803467},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.6362593173980713},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5510773658752441},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5425981879234314},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5314615964889526},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.48173263669013977},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.4796024560928345},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4779536724090576},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.45942381024360657},{"id":"https://openalex.org/keywords/air-navigation","display_name":"Air navigation","score":0.45876142382621765},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4501282870769501},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4400286078453064},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.4362791180610657},{"id":"https://openalex.org/keywords/gnss-augmentation","display_name":"GNSS augmentation","score":0.4120139479637146},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32883161306381226},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22532305121421814},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.16904547810554504},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11167782545089722},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08790373802185059}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7948882579803467},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.6362593173980713},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5510773658752441},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5425981879234314},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5314615964889526},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.48173263669013977},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.4796024560928345},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4779536724090576},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.45942381024360657},{"id":"https://openalex.org/C504623915","wikidata":"https://www.wikidata.org/wiki/Q1427822","display_name":"Air navigation","level":3,"score":0.45876142382621765},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4501282870769501},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4400286078453064},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.4362791180610657},{"id":"https://openalex.org/C166212672","wikidata":"https://www.wikidata.org/wiki/Q2165162","display_name":"GNSS augmentation","level":4,"score":0.4120139479637146},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32883161306381226},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22532305121421814},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.16904547810554504},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11167782545089722},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08790373802185059},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2022.3202139","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3202139","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":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.46000000834465027}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1564768010","https://openalex.org/W1579438189","https://openalex.org/W1967261891","https://openalex.org/W1969479488","https://openalex.org/W1984626222","https://openalex.org/W2015442982","https://openalex.org/W2068820155","https://openalex.org/W2072033671","https://openalex.org/W2079299474","https://openalex.org/W2085261163","https://openalex.org/W2103216907","https://openalex.org/W2124707714","https://openalex.org/W2130878831","https://openalex.org/W2138086650","https://openalex.org/W2158662637","https://openalex.org/W2296816139","https://openalex.org/W2335300627","https://openalex.org/W2507412359","https://openalex.org/W2540173637","https://openalex.org/W2566680697","https://openalex.org/W2742562184","https://openalex.org/W2762987602","https://openalex.org/W2805452940","https://openalex.org/W2890714858","https://openalex.org/W2904156610","https://openalex.org/W2945760909","https://openalex.org/W2969150231","https://openalex.org/W3031624864","https://openalex.org/W3044216439","https://openalex.org/W3089835902","https://openalex.org/W3090925395","https://openalex.org/W3129292774","https://openalex.org/W3130465612","https://openalex.org/W4238554946","https://openalex.org/W4287670449","https://openalex.org/W6767711165","https://openalex.org/W6783337767"],"related_works":["https://openalex.org/W2156963144","https://openalex.org/W1590923801","https://openalex.org/W3121466181","https://openalex.org/W3005892436","https://openalex.org/W2766759697","https://openalex.org/W1982606137","https://openalex.org/W2069229008","https://openalex.org/W2011116143","https://openalex.org/W2358256220","https://openalex.org/W2156308897"],"abstract_inverted_index":{"Multi-sensor":[0],"integration":[1,230],"is":[2],"necessary":[3],"to":[4,21,47,83,90,123,136,286],"provide":[5,124,137],"high-precision":[6],"navigation":[7,17,78],"solutions":[8],"for":[9,66,176,224,242,284],"autonomous":[10],"vehicles.":[11],"Land-vehicles":[12],"often":[13],"rely":[14],"on":[15,210],"global":[16],"satellite":[18],"systems":[19,79,119,131,145,192],"(GNSS)":[20],"acquire":[22],"its":[23],"position.":[24],"However,":[25],"there":[26],"are":[27,33,45,64,81,132],"some":[28,168],"environments":[29],"where":[30],"GNSS":[31],"signals":[32],"unavailable,":[34],"such":[35,104,151],"as":[36,105,152],"indoor-parking":[37,106],"garages,":[38],"tunnels,":[39],"and":[40,62,157,244],"under":[41],"bridges.":[42],"Additional":[43],"sensors":[44,60,184,219],"required":[46],"allow":[48],"reliable":[49,243],"positioning":[50,67,87,97,174,222,269],"regardless":[51],"of":[52,117,143,169,172,204,256,277],"location.":[53],"The":[54,164,227,247],"vehicle\u2019s":[55],"on-board":[56,182,217],"low":[57],"cost":[58],"inertial":[59,77,93],"(accelerometers":[61],"gyroscopes)":[63],"used":[65,194],"in":[68,74,85,101,134,148,160,195,252,280],"GNSS-denied":[69,254,282],"environments.":[70,163],"Despite":[71],"their":[72,86],"fidelity":[73],"short-term":[75],"usage,":[76],"(INS)":[80],"susceptible":[82],"drifts":[84],"solution":[88,249],"due":[89],"the":[91,127,141,170,186,206,216,278],"inherent":[92],"sensor":[94],"errors,":[95],"causing":[96],"errors":[98],"over":[99],"time":[100,279],"prolonged":[102],"scenarios,":[103],"garages.":[107],"Modern":[108],"land-vehicles":[109],"can":[110],"be":[111],"equipped":[112],"with":[113,185,215,236],"a":[114,202,237,281],"diversified":[115],"set":[116],"perception":[118],"(e.g.":[120],"LiDAR,":[121],"cameras)":[122],"information":[125],"about":[126],"surrounding":[128],"environment.":[129],"These":[130],"well-studied":[133],"literature":[135],"accurate":[138],"positioning.":[139,246],"Yet,":[140],"performance":[142],"these":[144],"may":[146,158],"degrade":[147],"weather":[149],"conditions":[150],"heavy":[153],"snow":[154],"or":[155],"rain,":[156],"fail":[159],"degraded":[161],"vision":[162],"proposed":[165,248],"research":[166,200,261],"addresses":[167],"limitations":[171],"current":[173],"technologies":[175],"land":[177],"vehicles":[178],"by":[179],"integrating":[180],"low-cost":[181],"motion":[183,218],"all-weather":[187],"electronic":[188],"scanning":[189],"radar":[190],"(ESR)":[191],"presently":[193],"adaptive":[196],"cruise":[197],"control.":[198],"This":[199,260],"employs":[201],"method":[203],"estimating":[205],"vehicle":[207],"position":[208],"based":[209],"multiple":[211],"ESR":[212],"systems.":[213],"Integration":[214],"guarantees":[220],"continuous":[221],"estimation":[223],"uninterrupted":[225,245,265],"navigation.":[226],"multi-sensor":[228,268],"system":[229,270],"utilizes":[231],"extended":[232],"Kalman":[233],"filter":[234],"(EKF)":[235],"unique":[238],"dynamic":[239],"tuning":[240],"approach":[241],"was":[250],"examined":[251],"real":[253],"scenario":[255],"an":[257,264],"indoor":[258],"parking.":[259],"has":[262],"reached":[263],"self-contained":[266],"EKF-based":[267],"providing":[271],"less":[272],"than":[273],"2m":[274],"error":[275],"90%":[276],"environment":[283],"up":[285],"four":[287],"minutes.":[288]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":15}],"updated_date":"2026-06-22T08:00:12.763002","created_date":"2025-10-10T00:00:00"}
