{"id":"https://openalex.org/W2584798342","doi":"https://doi.org/10.1109/tiv.2017.2658185","title":"Sequential Data Fusion of GNSS Pseudoranges and Dopplers With Map-Based Vision Systems","display_name":"Sequential Data Fusion of GNSS Pseudoranges and Dopplers With Map-Based Vision Systems","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2584798342","doi":"https://doi.org/10.1109/tiv.2017.2658185","mag":"2584798342"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2017.2658185","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2017.2658185","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01494232","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071056748","display_name":"Zui Tao","orcid":"https://orcid.org/0000-0002-8369-4452"},"institutions":[{"id":"https://openalex.org/I102516824","display_name":"Universit\u00e9 de Technologie de Compi\u00e8gne","ror":"https://ror.org/04y5kwa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I102516824"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210088387","display_name":"Heuristics and Diagnostics for Complex Systems","ror":"https://ror.org/0075hvk77","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210088387","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Zui Tao","raw_affiliation_strings":["CNRS UMR 7253 Heudiasyc, Sorbonne Universit\u00e9s, Universit\u00e9 de Technologie de Compi\u00e8gne, Compi\u00e8gne, France","Heudiasyc - Heuristique et Diagnostic des Syst\u00e8mes Complexes [Compi\u00e8gne] (UTC, CS 60319 - 57 avenue de Landshut - 60203 Compi\u00e8gne cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS UMR 7253 Heudiasyc, Sorbonne Universit\u00e9s, Universit\u00e9 de Technologie de Compi\u00e8gne, Compi\u00e8gne, France","institution_ids":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I39804081"]},{"raw_affiliation_string":"Heudiasyc - Heuristique et Diagnostic des Syst\u00e8mes Complexes [Compi\u00e8gne] (UTC, CS 60319 - 57 avenue de Landshut - 60203 Compi\u00e8gne cedex - France)","institution_ids":["https://openalex.org/I102516824","https://openalex.org/I4210088387"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050418541","display_name":"Philippe Bonnifait","orcid":"https://orcid.org/0000-0002-5842-1399"},"institutions":[{"id":"https://openalex.org/I102516824","display_name":"Universit\u00e9 de Technologie de Compi\u00e8gne","ror":"https://ror.org/04y5kwa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I102516824"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210088387","display_name":"Heuristics and Diagnostics for Complex Systems","ror":"https://ror.org/0075hvk77","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210088387","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Bonnifait","raw_affiliation_strings":["CNRS UMR 7253 Heudiasyc, Sorbonne Universit\u00e9s, Universit\u00e9 de Technologie de Compi\u00e8gne, Compi\u00e8gne, France","Heudiasyc - Heuristique et Diagnostic des Syst\u00e8mes Complexes [Compi\u00e8gne] (UTC, CS 60319 - 57 avenue de Landshut - 60203 Compi\u00e8gne cedex - France)","Labex MS2T - Laboratoire d'Excellence 'Ma\u00eetrise des Syst\u00e8mes de Syst\u00e8mes Technologiques' (Universit\u00e9 de Technologie de Compi\u00e8gne - Centre de Recherche de Royallieu - rue du Docteur Schweitzer- CS 60319 - 60203 COMPIEGNE Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS UMR 7253 Heudiasyc, Sorbonne Universit\u00e9s, Universit\u00e9 de Technologie de Compi\u00e8gne, Compi\u00e8gne, France","institution_ids":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I39804081"]},{"raw_affiliation_string":"Heudiasyc - Heuristique et Diagnostic des Syst\u00e8mes Complexes [Compi\u00e8gne] (UTC, CS 60319 - 57 avenue de Landshut - 60203 Compi\u00e8gne cedex - France)","institution_ids":["https://openalex.org/I102516824","https://openalex.org/I4210088387"]},{"raw_affiliation_string":"Labex MS2T - Laboratoire d'Excellence 'Ma\u00eetrise des Syst\u00e8mes de Syst\u00e8mes Technologiques' (Universit\u00e9 de Technologie de Compi\u00e8gne - Centre de Recherche de Royallieu - rue du Docteur Schweitzer- CS 60319 - 60203 COMPIEGNE Cedex - France)","institution_ids":["https://openalex.org/I102516824"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":45.5323,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.99429874,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"1","issue":"3","first_page":"254","last_page":"265"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.8755285739898682},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7357523441314697},{"id":"https://openalex.org/keywords/pseudorange","display_name":"Pseudorange","score":0.7137767672538757},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6526622176170349},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6345348954200745},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5929540991783142},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5660276412963867},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.49667173624038696},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.45701128244400024},{"id":"https://openalex.org/keywords/gnss-augmentation","display_name":"GNSS augmentation","score":0.43785354495048523},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4293396472930908},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3500494062900543},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3249441981315613},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.20538833737373352},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08256888389587402}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.8755285739898682},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7357523441314697},{"id":"https://openalex.org/C174201072","wikidata":"https://www.wikidata.org/wiki/Q1187347","display_name":"Pseudorange","level":4,"score":0.7137767672538757},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6526622176170349},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6345348954200745},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5929540991783142},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5660276412963867},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.49667173624038696},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.45701128244400024},{"id":"https://openalex.org/C166212672","wikidata":"https://www.wikidata.org/wiki/Q2165162","display_name":"GNSS augmentation","level":4,"score":0.43785354495048523},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4293396472930908},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3500494062900543},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3249441981315613},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.20538833737373352},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08256888389587402},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tiv.2017.2658185","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2017.2658185","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-01494232v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01494232","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7839222&isnumber=7879184","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01494232v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01494232","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7839222&isnumber=7879184","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4993965127","display_name":"R\u00e9seau national de plateformes robotiques d'excellence","funder_award_id":"ANR-10-EQPX-0044","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G8751970360","display_name":"Control of Technological Systems of Systems","funder_award_id":"ANR-10-LABX-0071","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1531532259","https://openalex.org/W1559536185","https://openalex.org/W1568988877","https://openalex.org/W1946142569","https://openalex.org/W1965086692","https://openalex.org/W1966244759","https://openalex.org/W1969553439","https://openalex.org/W1973122016","https://openalex.org/W1973213882","https://openalex.org/W1994983464","https://openalex.org/W2009139002","https://openalex.org/W2013367346","https://openalex.org/W2018890348","https://openalex.org/W2021246368","https://openalex.org/W2023322345","https://openalex.org/W2032924574","https://openalex.org/W2046102056","https://openalex.org/W2057704423","https://openalex.org/W2060061906","https://openalex.org/W2068839892","https://openalex.org/W2071350727","https://openalex.org/W2082509180","https://openalex.org/W2102036354","https://openalex.org/W2102642243","https://openalex.org/W2103121907","https://openalex.org/W2109436662","https://openalex.org/W2120204404","https://openalex.org/W2123224489","https://openalex.org/W2130887231","https://openalex.org/W2137531101","https://openalex.org/W2140581865","https://openalex.org/W2146023544","https://openalex.org/W2146432151","https://openalex.org/W2196829765","https://openalex.org/W2344863878","https://openalex.org/W2608623687","https://openalex.org/W2610011712","https://openalex.org/W2625567107","https://openalex.org/W4231370032","https://openalex.org/W4298563212","https://openalex.org/W6736945079","https://openalex.org/W7045698148"],"related_works":["https://openalex.org/W3197004465","https://openalex.org/W3216386610","https://openalex.org/W2796739365","https://openalex.org/W4239395258","https://openalex.org/W3204981892","https://openalex.org/W4380563814","https://openalex.org/W1979458460","https://openalex.org/W3130617165","https://openalex.org/W2904557485","https://openalex.org/W3198415914"],"abstract_inverted_index":{"Tightly":[0],"coupling":[1],"GNSS":[2,64,79,153,178],"pseudorange":[3],"and":[4,16,81,141,170],"Doppler":[5],"measurements":[6,69],"with":[7,63,77,95,138],"other":[8],"sensors":[9,100],"is":[10,49,108,123,131,144],"known":[11],"to":[12,51,125,133],"increase":[13],"the":[14,120,152],"accuracy":[15,169],"consistency":[17],"of":[18,119,151,168],"positioning":[19,57],"information.":[20],"Nowadays,":[21],"high-accuracy":[22],"geo-referenced":[23],"lane":[24,54],"marking":[25],"maps":[26],"are":[27,75,101],"seen":[28],"as":[29,42,111,180],"key":[30],"information":[31,58],"sources":[32],"in":[33,166],"autonomous":[34],"vehicle":[35],"navigation.":[36],"When":[37],"an":[38],"exteroceptive":[39],"sensor":[40],"such":[41],"a":[43,47,71,88,127,147,173],"video":[44,73],"camera":[45,74],"or":[46],"lidar":[48],"used":[50],"detect":[52],"them,":[53],"markings":[55],"provide":[56],"which":[59],"can":[60],"be":[61],"merged":[62,76],"data.":[65],"In":[66],"this":[67,160],"paper,":[68],"from":[70],"forward-looking":[72],"raw":[78],"pseudoranges":[80],"Dopplers":[82],"on":[83],"visible":[84],"satellites.":[85],"To":[86],"create":[87],"localization":[89],"system":[90,129],"that":[91,130,159],"provides":[92],"pose":[93],"estimates":[94],"high":[96],"availability,":[97],"dead":[98],"reckoning":[99],"also":[102],"integrated.":[103],"The":[104],"data":[105],"fusion":[106],"problem":[107,122],"then":[109],"formulated":[110],"sequential":[112],"filtering.":[113],"A":[114,135],"reduced-order":[115],"state":[116],"space":[117],"modeling":[118],"observation":[121],"proposed":[124],"give":[126],"real-time":[128],"easy":[132],"implement.":[134],"Kalman":[136],"filter":[137],"measured":[139],"input":[140],"correlated":[142],"noises":[143],"developed":[145],"using":[146,177],"suitable":[148],"error":[149],"model":[150],"pseudoranges.":[154],"Our":[155],"experimental":[156],"results":[157],"show":[158],"tightly":[161],"coupled":[162,175],"approach":[163],"performs":[164],"better,":[165],"terms":[167],"consistency,":[171],"than":[172],"loosely":[174],"method":[176],"fixes":[179],"inputs.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}