{"id":"https://openalex.org/W4410427962","doi":"https://doi.org/10.1109/tits.2025.3567952","title":"Outlier-Resistant Cooperative Positioning Method Using Robust Factor Graph Optimization","display_name":"Outlier-Resistant Cooperative Positioning Method Using Robust Factor Graph Optimization","publication_year":2025,"publication_date":"2025-05-16","ids":{"openalex":"https://openalex.org/W4410427962","doi":"https://doi.org/10.1109/tits.2025.3567952"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3567952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3567952","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/A5115603945","display_name":"Jianrong Wang","orcid":"https://orcid.org/0000-0002-8430-3492"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianrong Wang","raw_affiliation_strings":["School of Electronic and Information Engineering, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006732523","display_name":"Chen Zhuang","orcid":"https://orcid.org/0000-0001-5707-6805"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Zhuang","raw_affiliation_strings":["School of Electronic and Information Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5707-6805","affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011270130","display_name":"Hongbo Zhao","orcid":"https://orcid.org/0000-0002-1196-4089"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbo Zhao","raw_affiliation_strings":["School of Electronic and Information Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1196-4089","affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077936056","display_name":"Rongke Liu","orcid":"https://orcid.org/0000-0003-3098-8649"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rongke Liu","raw_affiliation_strings":["School of Electronic and Information Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3098-8649","affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.9253,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.74633784,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"26","issue":"9","first_page":"13838","last_page":"13853"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9991999864578247,"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":0.9991999864578247,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9796000123023987,"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/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9585000276565552,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.591732919216156},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5515459179878235},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.5188666582107544},{"id":"https://openalex.org/keywords/graph-theory","display_name":"Graph theory","score":0.4382040500640869},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4150472581386566},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4106549620628357},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.33709079027175903},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2825303375720978},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23729157447814941},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.17988523840904236},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.08570331335067749}],"concepts":[{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.591732919216156},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5515459179878235},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.5188666582107544},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.4382040500640869},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4150472581386566},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4106549620628357},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.33709079027175903},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2825303375720978},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23729157447814941},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.17988523840904236},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.08570331335067749},{"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.2025.3567952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3567952","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/G1742184176","display_name":null,"funder_award_id":"62301017","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2400037865","display_name":null,"funder_award_id":"2024Z073051001","funder_id":"https://openalex.org/F4320327472","funder_display_name":"Chinese Aeronautical Establishment"},{"id":"https://openalex.org/G3375865235","display_name":null,"funder_award_id":"2024Z073051001","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/F4320327472","display_name":"Chinese Aeronautical Establishment","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W905947147","https://openalex.org/W1558685142","https://openalex.org/W1978255623","https://openalex.org/W2031812340","https://openalex.org/W2088616581","https://openalex.org/W2168008333","https://openalex.org/W2333044622","https://openalex.org/W2572572557","https://openalex.org/W2808576284","https://openalex.org/W2919152870","https://openalex.org/W2923090374","https://openalex.org/W2955863859","https://openalex.org/W2973258311","https://openalex.org/W2977982730","https://openalex.org/W2980130519","https://openalex.org/W2984365536","https://openalex.org/W3004051486","https://openalex.org/W3006398233","https://openalex.org/W3015570924","https://openalex.org/W3021583842","https://openalex.org/W3037167970","https://openalex.org/W3038334450","https://openalex.org/W3040287303","https://openalex.org/W3042567147","https://openalex.org/W3128240868","https://openalex.org/W3128464154","https://openalex.org/W3170864031","https://openalex.org/W3196620541","https://openalex.org/W3205199758","https://openalex.org/W3211492847","https://openalex.org/W3216414561","https://openalex.org/W4206950540","https://openalex.org/W4214760575","https://openalex.org/W4226445087","https://openalex.org/W4244769743","https://openalex.org/W4282913827","https://openalex.org/W4306950691","https://openalex.org/W4312290316","https://openalex.org/W4323338686","https://openalex.org/W4381733064","https://openalex.org/W4391235434","https://openalex.org/W4391936215","https://openalex.org/W4393079290","https://openalex.org/W4396712804"],"related_works":["https://openalex.org/W3006513224","https://openalex.org/W162456724","https://openalex.org/W2046456988","https://openalex.org/W2357409937","https://openalex.org/W2354832544","https://openalex.org/W2510582230","https://openalex.org/W4252544247","https://openalex.org/W2978674666","https://openalex.org/W2074430941","https://openalex.org/W2113096305"],"abstract_inverted_index":{"Cooperative":[0],"positioning":[1,9],"(CP)":[2],"is":[3,59,81,90,129],"able":[4],"to":[5,27,41,57,92,138,146],"improve":[6],"the":[7,13,19,50,53,99,132,140,143,161,169,172,180,195,198,202],"vehicular":[8],"performance":[10],"by":[11,109,166],"introducing":[12],"data":[14],"of":[15,55,142,149,157,163,171,188,197],"multiple":[16,208],"vehicles":[17],"into":[18],"position":[20],"estimation.":[21],"However,":[22],"CP":[23,37,73,153,204],"methods":[24,38,205],"are":[25,39],"vulnerable":[26],"measurement":[28],"outliers":[29,51,56,150,181,189],"in":[30,43,83,119,126,151,206],"dense":[31],"urban":[32],"areas.":[33],"The":[34,86,123,155,175,191],"existing":[35,203],"outlier-resistant":[36],"easy":[40],"trap":[42],"local":[44,164],"optimum":[45,165],"and":[46,95,115],"may":[47],"wrongly":[48],"reject":[49],"when":[52],"ratio":[54],"inliers":[58],"relatively":[60],"high.":[61],"To":[62],"deal":[63],"with":[64,131],"this":[65,84],"problem,":[66],"a":[67,120,185],"factor":[68],"graph":[69],"optimization":[70],"(FGO)":[71],"based":[72],"method":[74,145,177,200],"using":[75],"Graduated":[76],"Non-Convexity":[77],"(GNC)":[78],"Welsch":[79,134,173],"cost":[80,125,135],"proposed":[82,144,176,199],"paper.":[85],"state-of-art":[87],"FGO":[88,128],"algorithm":[89],"used":[91],"integrate":[93],"multi-node":[94],"multi-epoch":[96],"measurements":[97,118],"including":[98],"Global":[100],"Navigation":[101],"Satellite":[102],"Systems":[103],"(GNSS)":[104],"pseudoranges,":[105],"inter-epoch":[106],"baselines":[107],"estimated":[108],"GNSS":[110],"time-differenced":[111],"carrier":[112],"phase":[113],"(TDCP),":[114],"inter-vehicle":[116],"ranging":[117],"centralized":[121],"framework.":[122],"least-square":[124],"traditional":[127],"replaced":[130],"GNC-based":[133],"so":[136],"as":[137],"enhance":[139],"robustness":[141],"any":[147],"kind":[148],"our":[152],"system.":[154],"use":[156],"GNC":[158],"can":[159,178],"reduce":[160],"risk":[162],"gradually":[167],"increasing":[168],"non-convexity":[170],"cost.":[174],"de-weight":[179],"correctly":[182],"even":[183],"if":[184],"large":[186],"number":[187],"exist.":[190],"experimental":[192],"results":[193],"show":[194],"superiority":[196],"over":[201],"resisting":[207],"outliers.":[209]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
