{"id":"https://openalex.org/W4403390400","doi":"https://doi.org/10.1109/tits.2024.3474093","title":"Uncertainty Modeling for Plane and Line Features to Improve Consistency in RTK/INS/LiDAR Integrated Navigation","display_name":"Uncertainty Modeling for Plane and Line Features to Improve Consistency in RTK/INS/LiDAR Integrated Navigation","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4403390400","doi":"https://doi.org/10.1109/tits.2024.3474093"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3474093","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3474093","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/A5017475936","display_name":"Feng Zhu","orcid":"https://orcid.org/0000-0002-4946-3407"},"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"]},{"id":"https://openalex.org/I4210105990","display_name":"Institute of Geodesy and Geophysics","ror":"https://ror.org/01gkn6j11","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210105990"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Feng Zhu","raw_affiliation_strings":["School of Geodesy and Geomatics, Hubei Luojia Laboratory, and the Key Laboratory of Geospace Environment and Geodesy, Ministry of Education, Wuhan University, Wuhan, Hubei, China","Ministry of Education, School of Geodesy and Geomatics, Hubei Luojia Laboratory, and the Key Laboratory of Geospace Environment and Geodesy, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Hubei Luojia Laboratory, and the Key Laboratory of Geospace Environment and Geodesy, Ministry of Education, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I4210105990","https://openalex.org/I37461747"]},{"raw_affiliation_string":"Ministry of Education, School of Geodesy and Geomatics, Hubei Luojia Laboratory, and the Key Laboratory of Geospace Environment and Geodesy, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I4210105990","https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108303362","display_name":"T Xiao","orcid":null},"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":"Tingyang Xiao","raw_affiliation_strings":["School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, Hubei, China","Hubei Luojia Laboratory, School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"Hubei Luojia Laboratory, School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhuo Xu","orcid":"https://orcid.org/0000-0003-0180-2286"},"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":"Zhuo Xu","raw_affiliation_strings":["School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, Hubei, China","Hubei Luojia Laboratory, School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"Hubei Luojia Laboratory, School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107060891","display_name":"Yuantai Zhang","orcid":"https://orcid.org/0009-0006-3083-9984"},"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":"Yuantai Zhang","raw_affiliation_strings":["School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, Hubei, China","Hubei Luojia Laboratory, School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"Hubei Luojia Laboratory, School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111195232","display_name":"Jiarui Lv","orcid":"https://orcid.org/0009-0008-5163-2426"},"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":"Jiarui Lv","raw_affiliation_strings":["School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, Hubei, China","Hubei Luojia Laboratory, School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"Hubei Luojia Laboratory, School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100334114","display_name":"Fei Guo","orcid":"https://orcid.org/0000-0002-7275-6937"},"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":"Fei Guo","raw_affiliation_strings":["School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, Hubei, China","Hubei Luojia Laboratory, School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"Hubei Luojia Laboratory, School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":null,"display_name":"Xiaohong Zhang","orcid":"https://orcid.org/0000-0002-2763-2548"},"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":"Xiaohong Zhang","raw_affiliation_strings":["School of Geodesy and Geomatics, Hubei Luojia Laboratory, and Chinese Antarctic Center of Surveying and Mapping, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Hubei Luojia Laboratory, and Chinese Antarctic Center of Surveying and Mapping, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5017475936"],"corresponding_institution_ids":["https://openalex.org/I37461747","https://openalex.org/I4210105990"],"apc_list":null,"apc_paid":null,"fwci":1.7075,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.8704525,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"25","issue":"12","first_page":"21002","last_page":"21020"},"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":0.9812999963760376,"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":0.9812999963760376,"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":0.9797999858856201,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.963100016117096,"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/lidar","display_name":"Lidar","score":0.8433419466018677},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.6094635725021362},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.5492326617240906},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.5173853635787964},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5068746209144592},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.3262718617916107},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.283574640750885},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2568635046482086},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12297269701957703}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8433419466018677},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.6094635725021362},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.5492326617240906},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.5173853635787964},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5068746209144592},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.3262718617916107},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.283574640750885},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2568635046482086},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12297269701957703},{"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.2024.3474093","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3474093","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":"Affordable and clean energy","score":0.6399999856948853,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2636476088","display_name":null,"funder_award_id":"42104021","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2976047283","display_name":null,"funder_award_id":"42374031","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7065817770","display_name":null,"funder_award_id":"42388102","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1582346609","https://openalex.org/W1966244759","https://openalex.org/W1974678436","https://openalex.org/W1994364263","https://openalex.org/W2049981393","https://openalex.org/W2056358962","https://openalex.org/W2118223742","https://openalex.org/W2130763585","https://openalex.org/W2131420149","https://openalex.org/W2144594079","https://openalex.org/W2155482149","https://openalex.org/W2296228853","https://openalex.org/W2580941845","https://openalex.org/W2762845973","https://openalex.org/W2766488187","https://openalex.org/W2770866044","https://openalex.org/W2773820792","https://openalex.org/W2794830497","https://openalex.org/W2886196112","https://openalex.org/W2908603664","https://openalex.org/W2909908358","https://openalex.org/W2938818630","https://openalex.org/W2963566952","https://openalex.org/W3038337585","https://openalex.org/W3089503906","https://openalex.org/W3091459796","https://openalex.org/W3091667825","https://openalex.org/W3111626948","https://openalex.org/W3129245057","https://openalex.org/W3132323429","https://openalex.org/W3142408675","https://openalex.org/W3164606261","https://openalex.org/W3183685035","https://openalex.org/W3204973120","https://openalex.org/W4205709873","https://openalex.org/W4288391441","https://openalex.org/W4297537663","https://openalex.org/W4320713376","https://openalex.org/W4367663264","https://openalex.org/W4378364813","https://openalex.org/W4387609197","https://openalex.org/W6675606146","https://openalex.org/W6695250641","https://openalex.org/W6777345932","https://openalex.org/W6784842987","https://openalex.org/W6843922816"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421"],"abstract_inverted_index":{"The":[0,164],"demand":[1],"for":[2],"high-precision":[3],"navigation":[4,31,36],"and":[5,16,39,42,68,105,119,128,161,180,194,206,220],"positioning":[6,159,212],"is":[7,55,94,121],"growing":[8],"rapidly":[9],"with":[10,184],"the":[11,26,29,60,89,97,102,106,117,142,150,169,203],"advancements":[12],"in":[13,51,80,176,202,214],"autonomous":[14],"driving":[15],"intelligent":[17],"robotics.":[18],"Nowadays,":[19],"many":[20],"studies":[21],"have":[22],"been":[23],"conducted":[24],"on":[25,116,149],"fusion":[27,83],"of":[28,46,63,84],"global":[30],"satellite":[32],"system":[33,147],"(GNSS),":[34],"inertial":[35],"systems":[37],"(INS),":[38],"light":[40],"detection":[41],"ranging":[43],"(LiDAR)":[44],"because":[45],"their":[47],"complementary":[48],"characteristics.":[49],"Notably,":[50],"multi-source":[52],"fusion,":[53],"it":[54],"crucial":[56],"to":[57,124,141,156,178,191],"precisely":[58],"model":[59],"uncertainty":[61],"(covariance)":[62],"each":[64],"sensor.":[65],"While":[66],"GNSS":[67],"IMU":[69],"covariance":[70,75,91,108,162,174],"modeling":[71,76,92],"are":[72,139],"mature,":[73],"LiDAR":[74,90],"remains":[77],"unsophisticated,":[78],"resulting":[79],"a":[81,211],"suboptimal":[82],"GNSS/INS/LiDAR.":[85],"In":[86],"this":[87],"work,":[88],"method":[93,171],"proposed,":[95],"including":[96],"original":[98],"point":[99,111,199],"cloud":[100,112],"covariance,":[101,104],"localmap":[103],"observation":[107],"modeling.":[109],"A":[110],"selecting":[113],"approach":[114],"based":[115,148],"eigenvectors":[118],"centroids":[120],"also":[122],"introduced":[123],"maintain":[125],"valid":[126],"surface":[127],"edge":[129],"feature":[130],"points,":[131],"thereby":[132],"reducing":[133],"repeated":[134],"observations.":[135],"These":[136],"above":[137],"methods":[138],"applied":[140],"tightly":[143],"coupled":[144],"RTK/INS/LiDAR_PPL":[145],"(G+I+PPL)":[146],"Multi-State":[151],"Constraint":[152],"Kalman":[153],"Filter":[154],"(MSCKF)":[155],"further":[157],"improve":[158],"accuracy":[160],"consistency.":[163],"experimental":[165],"results":[166],"show":[167],"that":[168],"proposed":[170],"has":[172],"better":[173],"consistency":[175],"comparison":[177],"LIOSAM":[179],"FASTLIO.":[181],"Meanwhile,":[182],"G+I+PPL":[183],"fused":[185],"point-to-plane/line":[186],"(PPL)":[187],"observations":[188],"outperforms":[189],"compared":[190],"RTK/INS":[192],"(G+I)":[193],"RTK/INS/LiDAR_CP":[195],"(G+I+CP)":[196],"using":[197],"closest":[198],"(CP)":[200],"observations,":[201],"right,":[204],"front,":[205],"up":[207],"(RFU)":[208],"directions,":[209],"demonstrating":[210],"improvement":[213],"performance":[215],"by":[216],"(50.7%,":[217],"58.6%,":[218],"54.3%)":[219],"(46.2%,":[221],"55.0%,":[222],"58.8%),":[223],"respectively.":[224]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
