{"id":"https://openalex.org/W4321483841","doi":"https://doi.org/10.1109/tits.2023.3245104","title":"Robust Multi-Model Estimation for Reliable Relative Navigation Based on Observability and Abnormity Analysis","display_name":"Robust Multi-Model Estimation for Reliable Relative Navigation Based on Observability and Abnormity Analysis","publication_year":2023,"publication_date":"2023-02-22","ids":{"openalex":"https://openalex.org/W4321483841","doi":"https://doi.org/10.1109/tits.2023.3245104"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2023.3245104","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3245104","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/A5044494939","display_name":"Kai Shen","orcid":"https://orcid.org/0000-0002-3541-6108"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Shen","raw_affiliation_strings":["Engineering Research Center of Navigation, Guidance and Control Technology, Ministry of Education, and the School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3541-6108","affiliations":[{"raw_affiliation_string":"Engineering Research Center of Navigation, Guidance and Control Technology, Ministry of Education, and the School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008327686","display_name":"Tingxin Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tingxin Liu","raw_affiliation_strings":["Engineering Research Center of Navigation, Guidance and Control Technology, Ministry of Education, and the School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Navigation, Guidance and Control Technology, Ministry of Education, and the School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101476555","display_name":"Yuelun Li","orcid":"https://orcid.org/0009-0004-1069-0604"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuelun Li","raw_affiliation_strings":["Engineering Research Center of Navigation, Guidance and Control Technology, Ministry of Education, and the School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Navigation, Guidance and Control Technology, Ministry of Education, and the School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100740599","display_name":"Ning Liu","orcid":"https://orcid.org/0000-0002-6552-8207"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Liu","raw_affiliation_strings":["School of Automation, Beijing Information Science and Technology University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6552-8207","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Information Science and Technology University, Beijing, China","institution_ids":["https://openalex.org/I78675632"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021970498","display_name":"Wenhao Qi","orcid":"https://orcid.org/0000-0001-9106-7734"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenhao Qi","raw_affiliation_strings":["Engineering Research Center of Navigation, Guidance and Control Technology, Ministry of Education, and the School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Navigation, Guidance and Control Technology, Ministry of Education, and the School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0621,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.88525319,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"24","issue":"5","first_page":"5144","last_page":"5158"},"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":0.9998000264167786,"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":0.9998000264167786,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9994999766349792,"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/T10655","display_name":"GNSS positioning and interference","score":0.9984999895095825,"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/observability","display_name":"Observability","score":0.8832646608352661},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7466503977775574},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.533926248550415},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.42857247591018677},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.4276770353317261},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4042726755142212},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3583223819732666},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24987637996673584},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22313347458839417}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.8832646608352661},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7466503977775574},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.533926248550415},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.42857247591018677},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.4276770353317261},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4042726755142212},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3583223819732666},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24987637996673584},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22313347458839417},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2023.3245104","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3245104","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":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8100000023841858}],"awards":[{"id":"https://openalex.org/G1220661576","display_name":null,"funder_award_id":"62273051","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/F4320323110","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W2001964734","https://openalex.org/W2008112871","https://openalex.org/W2045894583","https://openalex.org/W2061233009","https://openalex.org/W2063905925","https://openalex.org/W2070233301","https://openalex.org/W2072610077","https://openalex.org/W2074232022","https://openalex.org/W2076616500","https://openalex.org/W2080039274","https://openalex.org/W2083885339","https://openalex.org/W2086697544","https://openalex.org/W2095093213","https://openalex.org/W2105934661","https://openalex.org/W2117013956","https://openalex.org/W2128966049","https://openalex.org/W2140998418","https://openalex.org/W2143239613","https://openalex.org/W2144357069","https://openalex.org/W2155785538","https://openalex.org/W2208221757","https://openalex.org/W2321847991","https://openalex.org/W2566918566","https://openalex.org/W2595092153","https://openalex.org/W2736259500","https://openalex.org/W2791549798","https://openalex.org/W2800426781","https://openalex.org/W2904983967","https://openalex.org/W2919659635","https://openalex.org/W2923810966","https://openalex.org/W2926065969","https://openalex.org/W2929563004","https://openalex.org/W2945108092","https://openalex.org/W2967819855","https://openalex.org/W2980296183","https://openalex.org/W2980325010","https://openalex.org/W2984365536","https://openalex.org/W3003546828","https://openalex.org/W3004916130","https://openalex.org/W3006474838","https://openalex.org/W3036038658","https://openalex.org/W3048895497","https://openalex.org/W3122889292","https://openalex.org/W3139310764","https://openalex.org/W6682620483"],"related_works":["https://openalex.org/W2046459260","https://openalex.org/W2967463586","https://openalex.org/W2765830098","https://openalex.org/W1971989957","https://openalex.org/W2517338020","https://openalex.org/W3157641275","https://openalex.org/W4312300846","https://openalex.org/W2615757685","https://openalex.org/W2098782634","https://openalex.org/W3000546688"],"abstract_inverted_index":{"High-precision":[0],"relative":[1,60,136,147,169],"positioning":[2,137],"and":[3,18,44,70,84,93,95,109,144,166],"navigation":[4,37,61,170],"is":[5,27],"a":[6,30,55,80,85,98,115],"fundamental":[7],"requirement":[8],"for":[9,35],"many":[10],"applications":[11],"such":[12],"as":[13],"flight":[14],"formation,":[15],"spacecraft":[16],"docking":[17],"collision":[19],"avoidance.":[20],"The":[21,130],"main":[22],"purpose":[23],"of":[24,42,59,67,73,111,168],"this":[25],"paper":[26],"to":[28,48,105],"develop":[29],"robust":[31,100],"multi-model":[32,99],"estimation":[33,101],"algorithm":[34],"reliable":[36],"when":[38],"there":[39],"are":[40],"abnormities":[41],"measurement":[43],"motion.":[45],"In":[46,76,103],"order":[47,104],"deal":[49],"with":[50,118,156],"these":[51],"abnormities,":[52],"we":[53,78],"propose":[54],"quantitative":[56],"evaluation":[57],"method":[58,89,161],"system":[62],"by":[63],"introducing":[64],"the":[65,71,107,112,134,145,159,164],"degree":[66,72],"observability":[68],"(DoO)":[69],"abnormity":[74],"(DoA).":[75],"addition,":[77],"design":[79],"feedforward":[81],"information":[82,87],"fusion":[83],"feedback":[86],"allocation":[88],"based":[90],"on":[91],"DoO":[92],"DoA,":[94],"thus":[96],"form":[97],"algorithm.":[102],"testify":[106],"effectiveness":[108],"robustness":[110,167],"proposed":[113,160],"algorithm,":[114],"practical":[116],"experiment":[117],"real":[119],"data":[120],"sets":[121],"gathered":[122],"in":[123],"urban":[124],"areas":[125],"has":[126],"been":[127],"carried":[128],"out.":[129],"results":[131],"showed":[132],"that":[133],"maximum":[135,146],"RMSE":[138,149],"reduction":[139,150],"ratio":[140,151],"can":[141,152,162],"reach":[142,153],"75%,":[143],"velocity":[148],"51%":[154],"compared":[155],"EKF.":[157],"Therefore,":[158],"guarantee":[163],"accuracy":[165],"under":[171],"abnormal":[172],"conditions.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
