{"id":"https://openalex.org/W4395027642","doi":"https://doi.org/10.1109/tits.2024.3387466","title":"A Novel Factor Graph Framework for Tightly Coupled GNSS/INS Integration With Carrier-Phase Ambiguity Resolution","display_name":"A Novel Factor Graph Framework for Tightly Coupled GNSS/INS Integration With Carrier-Phase Ambiguity Resolution","publication_year":2024,"publication_date":"2024-04-23","ids":{"openalex":"https://openalex.org/W4395027642","doi":"https://doi.org/10.1109/tits.2024.3387466"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3387466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3387466","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/A5042894854","display_name":"Zhiheng Shen","orcid":"https://orcid.org/0000-0001-5319-4839"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhiheng Shen","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100661809","display_name":"Xingxing Li","orcid":"https://orcid.org/0000-0002-0283-4151"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingxing Li","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065169238","display_name":"Xuanbin Wang","orcid":"https://orcid.org/0009-0004-0849-556X"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuanbin Wang","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078945468","display_name":"Zongzhou Wu","orcid":"https://orcid.org/0000-0002-3520-8456"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongzhou Wu","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102012807","display_name":"Xin Li","orcid":"https://orcid.org/0009-0005-7002-2066"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Li","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018496820","display_name":"Yuxuan Zhou","orcid":"https://orcid.org/0000-0002-5261-0009"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxuan Zhou","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053326378","display_name":"Shengyu Li","orcid":"https://orcid.org/0000-0003-4014-2524"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengyu Li","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5042894854"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":33.7891,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.9966191,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"25","issue":"10","first_page":"13091","last_page":"13105"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10655","display_name":"GNSS positioning and interference","score":0.9988999962806702,"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/T10655","display_name":"GNSS positioning and interference","score":0.9988999962806702,"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":0.9984999895095825,"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"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9970999956130981,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/ambiguity-resolution","display_name":"Ambiguity resolution","score":0.8474293351173401},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.7461065053939819},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.523202657699585},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.5226671099662781},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4862000346183777},{"id":"https://openalex.org/keywords/factor","display_name":"Factor (programming language)","score":0.45515578985214233},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.3218228816986084},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.29813265800476074},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2534789741039276},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.19715642929077148},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.19527453184127808}],"concepts":[{"id":"https://openalex.org/C2777559092","wikidata":"https://www.wikidata.org/wiki/Q4741445","display_name":"Ambiguity resolution","level":4,"score":0.8474293351173401},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7461065053939819},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.523202657699585},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.5226671099662781},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4862000346183777},{"id":"https://openalex.org/C2781039887","wikidata":"https://www.wikidata.org/wiki/Q1391724","display_name":"Factor (programming language)","level":2,"score":0.45515578985214233},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.3218228816986084},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.29813265800476074},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2534789741039276},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.19715642929077148},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.19527453184127808},{"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/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2024.3387466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3387466","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/G4234997300","display_name":null,"funder_award_id":"2023YFB3907100","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G4599590155","display_name":null,"funder_award_id":"42204017","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/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W929010746","https://openalex.org/W1535176033","https://openalex.org/W1968315983","https://openalex.org/W1981699551","https://openalex.org/W2014207207","https://openalex.org/W2017489593","https://openalex.org/W2058430347","https://openalex.org/W2062666362","https://openalex.org/W2064169939","https://openalex.org/W2070956117","https://openalex.org/W2088830459","https://openalex.org/W2091782715","https://openalex.org/W2094293289","https://openalex.org/W2101345862","https://openalex.org/W2101945089","https://openalex.org/W2102664783","https://openalex.org/W2102957353","https://openalex.org/W2114124161","https://openalex.org/W2118223742","https://openalex.org/W2123487311","https://openalex.org/W2124647600","https://openalex.org/W2125009562","https://openalex.org/W2137052305","https://openalex.org/W2140658564","https://openalex.org/W2143737806","https://openalex.org/W2147213299","https://openalex.org/W2160558044","https://openalex.org/W2164514556","https://openalex.org/W2182229738","https://openalex.org/W2214788824","https://openalex.org/W2308146030","https://openalex.org/W2333846324","https://openalex.org/W2342616494","https://openalex.org/W2525987912","https://openalex.org/W2561512924","https://openalex.org/W2580246494","https://openalex.org/W2745007981","https://openalex.org/W2746349752","https://openalex.org/W2790185474","https://openalex.org/W2791639158","https://openalex.org/W2896413958","https://openalex.org/W2904543104","https://openalex.org/W2913690189","https://openalex.org/W2944897237","https://openalex.org/W2979386404","https://openalex.org/W3119052781","https://openalex.org/W3196620541","https://openalex.org/W3207476566","https://openalex.org/W3211987683","https://openalex.org/W3217619902","https://openalex.org/W4212977407","https://openalex.org/W4226293621","https://openalex.org/W4286656485","https://openalex.org/W4306950950","https://openalex.org/W4312227745","https://openalex.org/W4313449032","https://openalex.org/W4389169181","https://openalex.org/W4392061569","https://openalex.org/W6639325027","https://openalex.org/W6685664056","https://openalex.org/W6800175990","https://openalex.org/W6801027599"],"related_works":["https://openalex.org/W2384192608","https://openalex.org/W2335833997","https://openalex.org/W2779898968","https://openalex.org/W2797713408","https://openalex.org/W2381811314","https://openalex.org/W4389506233","https://openalex.org/W4306291904","https://openalex.org/W1168936648","https://openalex.org/W3163354205","https://openalex.org/W2148345702"],"abstract_inverted_index":{"Accurate":[0],"position,":[1],"velocity":[2],"and":[3,18,68,86,102,129,166,176],"orientation":[4],"are":[5],"essential":[6],"for":[7,29],"the":[8,65,78,87,90,100,107,114,119,142,147,178],"autonomous":[9],"navigation":[10,24],"of":[11,16,104],"unmanned":[12],"vehicles.":[13],"The":[14,74],"integration":[15],"GNSS":[17],"INS":[19],"that":[20,141],"can":[21,145],"deliver":[22],"continuous":[23],"states":[25],"is":[26,61,80,92,111,121],"widely":[27],"used":[28],"intelligent":[30],"vehicle":[31,120],"systems.":[32],"In":[33,54],"this":[34,55],"paper,":[35],"we":[36],"propose":[37],"a":[38,57,83,126],"tightly":[39,182],"coupled":[40,183],"GNSS/INS":[41,116],"positioning":[42,155],"framework":[43],"with":[44,71,152],"carrier-phase":[45,69,108],"ambiguity":[46,76,91,109],"resolution":[47,110],"based":[48],"on":[49,89],"factor":[50],"graph":[51],"optimization":[52],"(FGO).":[53],"approach,":[56],"sliding":[58],"window":[59,79],"optimizer":[60],"employed":[62],"to":[63,113,123],"fuse":[64],"multi-GNSS":[66],"pseudorange":[67],"observations":[70],"inertial":[72],"measurements.":[73],"same":[75],"within":[77],"considered":[81],"as":[82],"state":[84],"node,":[85],"constraint":[88,128,133],"continuously":[93],"preserved":[94],"by":[95],"marginalization.":[96],"To":[97],"further":[98],"improve":[99],"accuracy":[101],"reliability":[103],"precise":[105],"positioning,":[106],"introduced":[112],"FGO-based":[115],"framework.":[117],"When":[118],"detected":[122],"be":[124,135],"stationary,":[125],"zero-velocity":[127],"an":[130],"attitude":[131],"invariant":[132],"will":[134],"imposed.":[136],"Several":[137],"experimental":[138],"results":[139],"indicate":[140],"proposed":[143],"method":[144],"accomplish":[146],"centimeter-level":[148],"position":[149],"estimation":[150],"performance":[151],"beyond":[153],"90%":[154],"availability":[156],"(horizontal":[157],"<inline-formula":[158,168],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[159,169],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[160,170],"<tex-math":[161,171],"notation=\"LaTeX\">$&lt;$</tex-math>":[162,172],"</inline-formula>":[163,173],"10":[164,174],"cm":[165],"vertical":[167],"cm)":[175],"outperforms":[177],"current":[179],"state-of-the-art":[180],"filter-based":[181],"method.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
