{"id":"https://openalex.org/W4402401292","doi":"https://doi.org/10.1109/tiv.2024.3457678","title":"Adaptive Square-Root Cubature Kalman Filter Based Low Cost UAV Positioning in Dark and GPS-Denied Environments","display_name":"Adaptive Square-Root Cubature Kalman Filter Based Low Cost UAV Positioning in Dark and GPS-Denied Environments","publication_year":2024,"publication_date":"2024-09-10","ids":{"openalex":"https://openalex.org/W4402401292","doi":"https://doi.org/10.1109/tiv.2024.3457678"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2024.3457678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3457678","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055295334","display_name":"Beiya Yang","orcid":"https://orcid.org/0000-0003-1684-6054"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Beiya Yang","raw_affiliation_strings":["School of Computer Science, Northwestern Polytechnical University, Xi&#x0027;an, China"],"raw_orcid":"https://orcid.org/0000-0003-1684-6054","affiliations":[{"raw_affiliation_string":"School of Computer Science, Northwestern Polytechnical University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022264324","display_name":"Erfu Yang","orcid":"https://orcid.org/0000-0003-1813-5950"},"institutions":[{"id":"https://openalex.org/I181647926","display_name":"University of Strathclyde","ror":"https://ror.org/00n3w3b69","country_code":"GB","type":"education","lineage":["https://openalex.org/I181647926"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Erfu Yang","raw_affiliation_strings":["Department of Design, Manufacturing and Engineering Management, University of Strathclyde, Glasgow, U.K"],"raw_orcid":"https://orcid.org/0000-0003-1813-5950","affiliations":[{"raw_affiliation_string":"Department of Design, Manufacturing and Engineering Management, University of Strathclyde, Glasgow, U.K","institution_ids":["https://openalex.org/I181647926"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013665827","display_name":"Haobin Shi","orcid":"https://orcid.org/0000-0003-2180-8941"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haobin Shi","raw_affiliation_strings":["School of Computer Science, Northwestern Polytechnical University, Xi&#x0027;an, China"],"raw_orcid":"https://orcid.org/0000-0003-2180-8941","affiliations":[{"raw_affiliation_string":"School of Computer Science, Northwestern Polytechnical University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101563055","display_name":"Leijian Yu","orcid":"https://orcid.org/0000-0002-4177-8367"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Leijian Yu","raw_affiliation_strings":["Centre for Additive Manufacturing, Faculty of Engineering, University of Nottingham, Nottingham, U.K"],"raw_orcid":"https://orcid.org/0000-0002-4177-8367","affiliations":[{"raw_affiliation_string":"Centre for Additive Manufacturing, Faculty of Engineering, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088466409","display_name":"Cong Niu","orcid":"https://orcid.org/0000-0001-9417-7218"},"institutions":[{"id":"https://openalex.org/I4210117274","display_name":"Kelvin Nanotechnology (United Kingdom)","ror":"https://ror.org/02khq4z72","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210117274"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Cong Niu","raw_affiliation_strings":["Innova NanoJet Technology Limited, R&amp;D, Glasgow, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Innova NanoJet Technology Limited, R&amp;D, Glasgow, U.K","institution_ids":["https://openalex.org/I4210117274"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3619,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.91282818,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"10","issue":"5","first_page":"3587","last_page":"3599"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9951000213623047,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9951000213623047,"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":0.9868999719619751,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.968999981880188,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.785271942615509},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7426986694335938},{"id":"https://openalex.org/keywords/square-root","display_name":"Square root","score":0.6548425555229187},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5304994583129883},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3705710172653198},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3267863094806671},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2995256185531616},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27705714106559753},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1327379047870636},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06192830204963684}],"concepts":[{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.785271942615509},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7426986694335938},{"id":"https://openalex.org/C11577676","wikidata":"https://www.wikidata.org/wiki/Q134237","display_name":"Square root","level":2,"score":0.6548425555229187},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5304994583129883},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3705710172653198},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3267863094806671},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2995256185531616},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27705714106559753},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1327379047870636},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06192830204963684}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tiv.2024.3457678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3457678","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:strathprints.strath.ac.uk:90615","is_oa":false,"landing_page_url":"https://strathprints.strath.ac.uk/view/author/674775.html>","pdf_url":null,"source":{"id":"https://openalex.org/S4306402226","display_name":"Strathprints: The University of Strathclyde institutional repository (University of Strathclyde)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I181647926","host_organization_name":"University of Strathclyde","host_organization_lineage":["https://openalex.org/I181647926"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G2580475346","display_name":null,"funder_award_id":"2023-GHZD-42","funder_id":"https://openalex.org/F4320336350","funder_display_name":"Key Research and Development Projects of Shaanxi Province"},{"id":"https://openalex.org/G2622031906","display_name":null,"funder_award_id":"IEC-NSFC-211434","funder_id":"https://openalex.org/F4320320006","funder_display_name":"Royal Society"},{"id":"https://openalex.org/G4461531633","display_name":null,"funder_award_id":"D5000230340","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320320006","display_name":"Royal Society","ror":"https://ror.org/03wnrjx87"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320336350","display_name":"Key Research and Development Projects of Shaanxi Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W2048312361","https://openalex.org/W2054091988","https://openalex.org/W2085101420","https://openalex.org/W2284951713","https://openalex.org/W2591996318","https://openalex.org/W2759183072","https://openalex.org/W2803678703","https://openalex.org/W2884280313","https://openalex.org/W2888489582","https://openalex.org/W2894578575","https://openalex.org/W2897011841","https://openalex.org/W2969277962","https://openalex.org/W2972649301","https://openalex.org/W3000004788","https://openalex.org/W3001529749","https://openalex.org/W3004100999","https://openalex.org/W3005316764","https://openalex.org/W3014130312","https://openalex.org/W3014888714","https://openalex.org/W3098650625","https://openalex.org/W3128464154","https://openalex.org/W3156850880","https://openalex.org/W3159633564","https://openalex.org/W3204267514","https://openalex.org/W3215518852","https://openalex.org/W4206814198","https://openalex.org/W4206950540","https://openalex.org/W4294811239","https://openalex.org/W4295934591","https://openalex.org/W4319866431","https://openalex.org/W4377971210","https://openalex.org/W4385194665","https://openalex.org/W4387682202","https://openalex.org/W4387789981","https://openalex.org/W4388081402","https://openalex.org/W4389352693","https://openalex.org/W4389454801","https://openalex.org/W4390738588","https://openalex.org/W4397026139"],"related_works":["https://openalex.org/W3162200841","https://openalex.org/W2586280620","https://openalex.org/W2805505483","https://openalex.org/W2334071950","https://openalex.org/W2384744344","https://openalex.org/W4233932308","https://openalex.org/W1799694159","https://openalex.org/W2393169196","https://openalex.org/W2366610330","https://openalex.org/W2288640460"],"abstract_inverted_index":{"Routine":[0],"inspection":[1,34,72,213],"inside":[2],"the":[3,27,37,48,54,70,80,89,96,102,131,134,141,144,152,158,164,167,170,174,182,207,211],"water":[4],"tank,":[5],"pressure":[6],"vessel,":[7],"penstocks":[8],"and":[9,14,30,45,50,84,149,155,173,195,216],"boiler":[10],"which":[11,161,204],"present":[12],"dark":[13,215],"global":[15],"positioning":[16,126],"system":[17,127,159],"(GPS)":[18],"denied":[19],"environment":[20],"always":[21],"plays":[22],"an":[23,115],"important":[24],"role":[25],"for":[26,157],"safety":[28,49],"storage":[29],"transportation.":[31],"The":[32],"conventional":[33],"conducted":[35],"by":[36,163],"skilled":[38],"workers":[39],"is":[40,98,128],"highly":[41],"expensive,":[42],"time":[43],"consuming":[44],"may":[46],"cause":[47],"heath":[51],"problem.":[52],"Nowadays,":[53],"emerging":[55],"unmanned":[56],"aerial":[57],"vehicle":[58],"(UAV)":[59],"based":[60,122],"techniques":[61],"make":[62],"it":[63],"possible":[64],"to":[65,68,78,100,111,209],"replace":[66],"human":[67],"do":[69],"periodical":[71],"in":[73,106,214],"these":[74,107],"environments.":[75,108,218],"However,":[76],"how":[77],"obtain":[79],"reliable,":[81],"high":[82],"accuracy":[83],"precise":[85],"position":[86,104],"information":[87,105],"of":[88,133,169],"UAV":[90,125,208],"becomes":[91],"a":[92],"challenging":[93],"issue,":[94],"as":[95],"GPS":[97],"unable":[99],"provide":[101],"accurate":[103],"In":[109],"order":[110],"resolve":[112],"this":[113],"problem,":[114],"adaptive":[116],"square-root":[117],"cubature":[118,142],"Kalman":[119],"filter":[120],"(ASRCKF)":[121],"low":[123],"cost":[124],"designed.":[129],"Through":[130],"combination":[132],"inertial":[135],"measurement":[136,171],"unit":[137],"(IMU),":[138],"ultra-wideband":[139],"(UWB),":[140],"rule,":[143],"adaptively":[145],"estimated":[146],"noise":[147,172,177],"model":[148,178],"weighting":[150],"factors,":[151],"potential":[153],"degradation":[154],"oscillation":[156],"performance":[160],"caused":[162],"linearisation":[165],"process,":[166],"variation":[168],"manually":[175],"adjusted":[176],"are":[179],"solved.":[180],"Finally,":[181],"0.081m":[183],"median":[184],"localisation":[185,193],"error,":[186],"0.172m":[187],"95<inline-formula":[188],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[189],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[190],"notation=\"LaTeX\">$^{th}$</tex-math></inline-formula>":[191],"percentile":[192],"error":[194],"0.045m":[196],"average":[197],"standard":[198],"deviation":[199],"(STD)":[200],"can":[201,205],"be":[202],"attained,":[203],"support":[206],"achieve":[210],"autonomous":[212],"GPS-denied":[217]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
